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Convert Euler angles to homogeneous transform
T = eul2tr(phi, theta, psi, options) is an SE(3) homogeneous transformation matrix (4x4) with zero translation and rotation equivalent to the specified Euler angles. These correspond to rotations about the Z, Y, Z axes respectively. If phi, theta, psi are column vectors (Nx1) then they are assumed to represent a trajectory and R is a three-dimensional matrix (4x4xN), where the last index corresponds to rows of phi, theta, psi.
R = eul2r(eul, options) as above but the Euler angles are taken from the vector (1x3) eul = [phi theta psi]. If eul is a matrix (Nx3) then R is a three-dimensional matrix (4x4xN), where the last index corresponds to rows of RPY which are assumed to be [phi,theta,psi].
'deg' | Angles given in degrees (radians default) |
eul2r, rpy2tr, tr2eul, SE3.eul
© 1990-2014 Peter Corke.