- Library
- Description
- Default Properties
- Interfacing Function
- Computational Function (type 5)
- See Also
- Bibliography

Robotics

Return the three Euler angles, in radians, corresponding to the rotational part of the homogeneous transform given as input.

This block has one regular input.

The number of outputs to this block is three and all outputs are regular outputs.
The first output is the `phi` angle, the second is the `theta` angle and the third output is the `psi` angle.

- always active:
**no** - direct-feedthrough:
**yes** - zero-crossing:
**no** - mode:
**no** - number/sizes of inputs:
**1 / [4,4]** - number/sizes of activation inputs:
**0 /** - number/sizes of outputs:
**3 / [1,1], [1,1], [1,1]** - number/sizes of activation outputs:
**0 /** - continuous-time state:
**no** - discrete-time state:
**no** - name of computational function:
**rt_tr2eul_cf5**

<PATH>/macros/rt_tr2eul_if.sci[view code]

<PATH>/macros/rt_tr2eul_cf5.sci[view code]

` rt_eul2tr_if`,

Corke, P.I. "A Robotics Toolbox for MATLAB", *IEEE Robotics and Automation Magazine*, Volume 3(1), March 1996, pp. 24-32