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In which order should I feed Euler angles to (Coordinate Transformation Conversion) block in Simulink?

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I am trying to send euler angles of my robot to ROS environment. I've choosed the option (EulZYX --> Quat). I am confused about the right order of feeding euler angles to the block. May you help me?

Accepted Answer

Remo Pillat
Remo Pillat on 2 Jun 2021
Hi Ömer,
For the default Euler ZYX input, pass a 3x1 column vector to the block, where each value is an angle (in radians). These angles will operate as follows:
  • The first angle will rotate about the initial z-axis
  • The second angle will rotate about the intermediate y-axis
  • The third angle will rotate about the second intermediate x-axis

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