Return a homogeneous transformation for the Euler angles set (in radians) given as input. These correspond to rotations about the Z, Y and Z axes respectively.
The number of inputs to this block is three and all inputs are regular inputs. The first input is the phi angle, i.e. a rotation about the Z-axis of current reference frame. The second input is the theta angle, i.e. a rotation about the Y-axis of current reference frame. The third input is the psi angle, i.e. a rotation about the Z-axis of current reference frame.
This block has one regular output.
rt_rpy2tr_if, rt_tr2eul_if, rt_eul2tr,
Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32