rod2dcm
Convert Euler-Rodrigues vector to direction cosine matrix
Syntax
Description
Examples
Input Arguments
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Algorithms
An Euler-Rodrigues vector represents a rotation by integrating a direction cosine of a rotation axis with the tangent of half the rotation angle as follows:
where:
are the Rodrigues parameters. Vector represents a unit vector around which the rotation is performed. Due to the tangent, the rotation vector is indeterminate when the rotation angle equals ±pi radians or ±180 deg. Values can be negative or positive.
References
[1] Dai, J.S. "Euler-Rodrigues formula variations, quaternion conjugation and intrinsic connections." Mechanism and Machine Theory, 92, 144-152. Elsevier, 2015.
Version History
Introduced in R2017a