Main Content

Rotation Angles to Direction Cosine Matrix

Convert rotation angles to direction cosine matrix

  • Library:
  • Aerospace Blockset / Utilities / Axes Transformations

  • Rotation Angles to Direction Cosine Matrix block


The Rotation Angles to Direction Cosine Matrix block determines the direction cosine matrix (DCM) from a given set of rotation angles, R1, R2, and R3, of the first, second, and third rotation angles, respectively. For example, the default rotation angle order ZYX represents a sequence where R1 is z-axis rotation (yaw), R2 is y-axis rotation (pitch), and R3 is x-axis rotation (roll). Use the Rotation Order parameter to change the sequence.



expand all

Rotation angles, specified as a 3-by-1 vector, in radians.

Data Types: double


expand all

Direction cosine matrix that performs coordinate transformations based on rotation angles, returned as a 3-by-3 matrix.

Data Types: double


expand all

Input rotation order for the three rotation angles.

Programmatic Use

Block Parameter: rotationOrder
Type: character vector
Values: 'ZYX' | 'ZYZ' |'ZXY' | 'ZXZ' | 'YXZ' | 'YXY' | 'YZX' | 'YZY' | 'XYZ' | 'XYX' | 'XZY' | 'XZX'
Default: 'ZYX'

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Introduced in R2007b