Scilab Function
Last update : April 2007
rt_eul2tr  Euler angles to homogeneous transform[view code]
Calling Sequence
 T = rt_eul2tr(ph, th, ps)
 T = rt_eul2tr(EUL)
Parameters

ph
: scalar. The phi angle in radians, i.e. a rotation about the Zaxis of current reference frame.

th
: scalar. The theta angle in radians, i.e. a rotation about the Yaxis of current reference frame.

ps
: scalar. The psi angle in radians, i.e. a rotation about the Zaxis of current reference frame.

EUL
: 3element row vector. This vector is formed by stacking the angles phi, theta and psi as follows EUL = [phi, theta, psi].

T
: 4by4 matrix. It represents the resulting homogeneous transform for the specified set of Euler angles.
Description

Return a homogeneous transformation for the specified Euler angles set, in radians. These correspond to rotations about the Z, Y and Z axes respectively.
Examples
// The following example shows how rt_eul2tr() can be used to generate
// a homogeneous transform for a specified set of Euler angles in a
// direct approach.
// Euler angles set
EUL = [%pi/6, %pi/4, 2/5*%pi];
// corresponding homogeneous matrix obtained
// by compounded transforms
T1 = rt_rotz(EUL(1)) * rt_roty(EUL(2)) * rt_rotz(EUL(3)),
// by using rt_eul2tr() (direct approach)
T2 = rt_eul2tr(EUL),
See Also
rt_tr2eul, rt_rpy2tr,
Authors
original Matlab version by

Peter I. Corke
CSIRO Manufacturing Science and Technology
Scilab implementation by

Matteo Morelli
Interdepartmental Research Center "E. Piaggio", University of Pisa
Bibliography
Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 2432
R. P. Paul, Robot Manipulators: Mathematics, Programming and Control. Cambridge, Massachusetts: MIT Press, 1981.