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# 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```