rotm = eul2rotm(eul) converts a
set of Euler angles, eul, to the corresponding rotation matrix,
rotm. When using the rotation matrix, premultiply it with
the coordinates to be rotated (as opposed to postmultiplying). The default order for
Euler angle rotations is "ZYX".
rotm = eul2rotm(eul,sequence)
converts Euler angles to a rotation matrix, rotm. The Euler
angles are specified in the axis rotation sequence, sequence.
The default order for Euler angle rotations is "ZYX".
Euler rotation angles in radians, specified as an
n-by-3 array of intrinsic Euler rotation angles. Each row
represents one Euler angle set in the sequence defined by the
sequence argument. For example, with the default
sequence "ZYX", each row of eul is
of the form [zAngle yAngle xAngle].
Axis-rotation sequence for the Euler angles, specified as one of these string scalars:
"ZYX" (default)
"ZYZ"
"ZXY"
"ZXZ"
"YXY"
"YZX"
"YXZ"
"YZY"
"XYX"
"XYZ"
"XZX"
"XZY"
Each character indicates the corresponding axis. For example, if the
sequence is "ZYX", then the three specified Euler angles are
interpreted in order as a rotation around the z-axis, a rotation
around the y-axis, and a rotation around the
x-axis. When applying this rotation to a point, it will apply the
axis rotations in the order x, then y, then
z.
Rotation matrix, returned as a 3-by-3-by-n matrix
containing n rotation matrices. Each rotation matrix
has a size of 3-by-3 and is orthonormal. When using the rotation matrix,
premultiply it with the coordinates to be rotated (as opposed to postmultiplying).
Example: [0 0 1; 0 1 0; -1 0 0]
Extended Capabilities
C/C++ Code Generation Generate C and C++ code using MATLAB® Coder™.
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