angle2dcm

Convert rotation angles to direction cosine matrix

Description

example

dcm = angle2dcm(rotationAng1,rotationAng2,rotationAng3) calculates the direction cosine matrix given three sets of rotation angles specifying yaw, pitch, and roll.

dcm = angle2dcm(___,rotationSequence) calculates the direction cosine matrix given three sets of rotation angles.

Examples

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Calculate direction cosine matrix from rotation angles.

yaw = 0.7854;  
pitch = 0.1; 
roll = 0;
dcm = angle2dcm( yaw, pitch, roll )
dcm = 3×3

    0.7036    0.7036   -0.0998
   -0.7071    0.7071         0
    0.0706    0.0706    0.9950

Calculate 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 = 
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

Input Arguments

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First rotation angles, specified as an m-by-1 array, in rads.

Data Types: double | single

Second rotation angles, specified as an m-by-1 array, in rads.

Data Types: double | single

Third rotation angles, specified as an m-by-1 array, in rads.

Data Types: double | single

Rotation sequence, specified as a scalar.

Data Types: char | string

Output Arguments

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Direction cosine matrices, specified as a 3-by-3-by-m matrix, where m is the number of direction cosine matrices.

Introduced in R2006b