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Calcuate Euler Angles from Rotation Matrix

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Calcuate Euler Angles from Rotation Matrix

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This function return the rotation along x,y and z direction from a 3x3 Rotation Matrix

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Description

% This function return the rotation along x,y and z direction from a
% Rotation Matrix

%Inputs:
    % R= 3x3 Rotation Matrix
%Outputs:
    % rx= Rotation along x direction in radians
    % ry= Rotation along y direction in radians
    % rz= Rotation along z direction in radians
    
% R =
%
% [ cos(ry)*cos(rz), -cos(ry)*sin(rz), sin(ry)]
% [ cos(rx)*sin(rz) + cos(rz)*sin(rx)*sin(ry), cos(rx)*cos(rz) - sin(rx)*sin(ry)*sin(rz), -cos(ry)*sin(rx)]
% [ sin(rx)*sin(rz) - cos(rx)*cos(rz)*sin(ry), cos(rz)*sin(rx) + cos(rx)*sin(ry)*sin(rz), cos(rx)*cos(ry)]

% Author : Sandeep Sasidharan
% http://sandeepsasidharan.webs.com

MATLAB release MATLAB 7.13 (R2011b)
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Comments and Ratings (3)
10 Jun 2013 Alex Kreimer

In recent MATLAB there's a 'vrrotmat2vec'

25 Oct 2012 Georg Wiora

This is a nice short code, but it covers only a very special case and does not tell which one exactly.
I recommend spincalc() from Jonathan Fuller. It is much more powerfull!

http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors

25 Oct 2012 Georg Wiora  

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