That's a very good program!
Can anybody help me to get as an output the euler angles value...?
What should I supplement?
I tried something but unfortunately i didn't get the presumed result.
Great file, great help for people (like me) who are looking for software to simulate unconstrained motion of a rigid body. Quick comment: the code has a small bug...
In line 86:
Ipos_i = dcm*Ipos_i; % 3-by-3 by 1-by-3
Can be simply changed to:
Ipos_i = dcm*Ipos_i'; % 3-by-3 by 1-by-3
Ipos_i = Ipos_i';
Or something fancier. In any case, this is a great piece of code, and it is rather self-explanatory so disregard other reviews asking to make comments in the code.
In my humble opinion, if the derivation is unclear, one should write out (by hand) the equations to get a clearer picture. There are also short tutorials on the subject available (e.g., search for SIGGRAPH '97 unconstrained motion).