angle2dcm

Convert rotation angles to direction cosine matrix

Syntax

dcm = angle2dcm(rotationAng1,rotationAng2,rotationAng3)

dcm = angle2dcm(___,rotationSequence)

Description

dcm = angle2dcm(rotationAng1,rotationAng2,rotationAng3) calculates the direction cosine matrix dcm given three sets of rotation angles, rotationAng1, rotationAng2, and rotationAng3, specifying yaw, pitch, and roll. The rotation angles represent a passive transformation from frame A to frame B. The resulting direction cosine matrix represents a series of right-hand intrinsic passive rotations from frame A to frame B.

dcm = angle2dcm(___,rotationSequence) calculates the direction cosine matrix given the rotation sequence, rotationSequence.

Examples

Calculate Direction Cosine Matrix from Angles

Calculate the direction cosine matrix from three 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 Angle and Sequence

Calculate the direction cosine matrix from rotation angles and a 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

rotationAng1 — First rotation angles

m-by-1 array

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

Data Types: double | single

rotationAng2 — Second rotation angles

m-by-1 array

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

Data Types: double | single

rotationAng3 — Third rotation angles

m-by-1 array

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

Data Types: double | single

rotationSequence — Rotation sequence

'ZYX' (default) | 'ZYX' | 'ZYZ' | 'ZXY' | 'ZXZ' | 'YXZ' | 'YXY' | 'YZX' | 'YZY' | 'XYZ' | 'XZY' | 'XYX' | 'XZX'

Rotation sequence, specified as a scalar.

Data Types: char | string

Output Arguments

dcm — Direction cosine matrices

3-by-3-by-m matrix

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

Version History

Introduced in R2006b