eulerzxz {orientlib}

Create an orientation using Euler angles

Description

Creates an eulerzxz-class object.

Usage

eulerzxz(phi, theta, psi)

Arguments

phi

Rotation about Z axis

theta

Rotation about X axis

psi

Further rotation about Z axis

Details

The rotations are expressed in radians and applied in the order Z, X, Z.

If theta and psi are missing, phi is taken to be an n x 3 matrix (or 3 element vector) holding all 3 Euler angles; alternatively, it may be an orientation object.

Value

An eulerzxz-class object.

Author(s)

Duncan Murdoch

See Also

eulerzxz-class, eulerzyx-class, rotmatrix, rotvector, quaternion, skewvector, skewmatrix

Examples

x <- eulerzxz(c(1,0,0), c(0,1,0), c(0,0,1))
x
rotmatrix(x)