angle2dcm - Create direction cosine matrix from rotation angles

Syntax

dcm = angle2dcm(rotationAng1, rotationAng2, rotationAng3) dcm = angle2dcm(rotationAng1, rotationAng2, rotationAng3, rotationSequence)

Description

dcm = angle2dcm(rotationAng1, rotationAng2, rotationAng3) calculates the direction cosine matrix given three sets of rotation angles.

dcm = angle2dcm(rotationAng1, rotationAng2, rotationAng3, rotationSequence) calculates the direction cosine matrix using a rotation sequence.

Input Arguments

rotationAng1

m-by-1 array of first rotation angles, in radians.

rotationAng2

m-by-1 array of second rotation angles, in radians.

rotationAng3

m-by-1 array of third rotation angles, in radians.

rotationSequence

String that defines rotation sequence. For example, the default 'ZYX' represents a sequence where rotationAng1 is z-axis rotation, rotationAng2 is y-axis rotation, and rotationAng3 is x-axis rotation.

'ZYX'

'ZYZ'

'ZXY'

'ZXZ'

'YXZ'

'YXY'

'YZX'

'YZY'

'XYZ'

'XZY'

'XYX'

'XZX'

'ZYX' (default)

Output Arguments

dcm

3-by-3-by-m matrix containing m direction cosine matrices.

Examples

Determine the direction cosine matrix from rotation angles:

yaw = 0.7854;  
pitch = 0.1; 
roll = 0;
dcm = angle2dcm( yaw, pitch, roll )

dcm =

    0.7036    0.7036   -0.0998
   -0.7071    0.7071         0
    0.0706    0.0706    0.9950

Determine the direction cosine matrix from rotation angles and rotation sequence:

yaw = [0.7854 0.5];  
pitch = [0.1 0.3];  
roll = [0 0.1];
dcm = angle2dcm( pitch, roll, yaw, 'YXZ' )

dcm(:,:,1) =

    0.7036    0.7071   -0.0706
   -0.7036    0.7071    0.0706
    0.0998         0    0.9950


dcm(:,:,2) =

    0.8525    0.4770   -0.2136
   -0.4321    0.8732    0.2254
    0.2940   -0.0998    0.9506