# Axes Transformations

Transform axes of coordinate systems to different types, such as Euler angles to quaternions and vice versa

Axes transformation functions support transformations such as those between:

• Direction cosine matrices and quaternions

• Rotation angles and quaternions

• Earth-centered inertial (ECI) coordinates and azimuth or geodetic latitude, longitude, altitude (LLA) coordinates

• Flat Earth positions from geodetic latitude, longitude, and altitude

## Functions

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 `angle2dcm` Convert rotation angles to direction cosine matrix `angle2quat` Convert rotation angles to quaternion `angle2rod` Convert rotation angles to Euler-Rodrigues vector `rod2angle` Convert Euler-Rodrigues vector to rotation angles `quat2angle` Convert quaternion to rotation angles
 `angle2dcm` Convert rotation angles to direction cosine matrix `dcm2alphabeta` Convert direction cosine matrix to angle of attack and sideslip angle `dcm2angle` Create rotation angles from direction cosine matrix `dcm2latlon` Convert direction cosine matrix to geodetic latitude and longitude `dcm2quat` Convert direction cosine matrix to quaternion `dcm2rod` Convert direction cosine matrix to Euler-Rodrigues vector `dcmbody2wind` Convert angle of attack and sideslip angle to direction cosine matrix `dcmecef2ned` Convert geodetic latitude and longitude to direction cosine matrix `dcmeci2ecef` Convert Earth-centered inertial (ECI) to Earth-centered Earth-fixed (ECEF) coordinates `quat2dcm` Convert quaternion to direction cosine matrix `rod2dcm` Convert Euler-Rodrigues vector to direction cosine matrix
 `ecef2lla` Convert Earth-centered Earth-fixed (ECEF) coordinates to geodetic coordinates `eci2lla` Convert Earth-centered inertial (ECI) coordinates to latitude, longitude, altitude (LLA) geodetic coordinates `flat2lla` Convert from flat Earth position to array of geodetic coordinates `lla2ecef` Convert geodetic coordinates to Earth-centered Earth-fixed (ECEF) coordinates `lla2eci` Convert geodetic latitude, longitude, altitude (LLA) coordinates to Earth-centered inertial (ECI) coordinates `lla2flat` Convert from geodetic latitude, longitude, and altitude to flat Earth position
 `geoc2geod` Convert geocentric latitude to geodetic latitude `geod2geoc` Convert geodetic latitude to geocentric latitude
 `angle2quat` Convert rotation angles to quaternion `dcm2quat` Convert direction cosine matrix to quaternion `quat2angle` Convert quaternion to rotation angles `quat2dcm` Convert quaternion to direction cosine matrix `quat2rod` Convert quaternion to Euler-Rodrigues vector `rod2quat` Convert Euler-Rodrigues vector to quaternion
 `eci2aer` Convert Earth-centered inertial (ECI) coordinates to azimuth, elevation, slant range (AER) coordinates
 `angle2rod` Convert rotation angles to Euler-Rodrigues vector `dcm2rod` Convert direction cosine matrix to Euler-Rodrigues vector `quat2rod` Convert quaternion to Euler-Rodrigues vector `rod2angle` Convert Euler-Rodrigues vector to rotation angles `rod2dcm` Convert Euler-Rodrigues vector to direction cosine matrix `rod2quat` Convert Euler-Rodrigues vector to quaternion