Last update : April 2007
rt_eul2tr - Euler angles to homogeneous transform[view code]
- T = rt_eul2tr(ph, th, ps)
- T = rt_eul2tr(EUL)
: scalar. The phi angle in radians, i.e. a rotation about the Z-axis of current reference frame.
: scalar. The theta angle in radians, i.e. a rotation about the Y-axis of current reference frame.
: scalar. The psi angle in radians, i.e. a rotation about the Z-axis of current reference frame.
: 3-element row vector. This vector is formed by stacking the angles phi, theta and psi as follows EUL = [phi, theta, psi].
: 4-by-4 matrix. It represents the resulting homogeneous transform for the specified set of Euler angles.
Return a homogeneous transformation for the specified Euler angles set, in radians. These correspond to rotations about the Z, Y and Z axes respectively.
// 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),
original Matlab version by
Peter I. Corke
CSIRO Manufacturing Science and Technology
Scilab implementation by
Interdepartmental Research Center "E. Piaggio", University of Pisa
Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32
R. P. Paul, Robot Manipulators: Mathematics, Programming and Control. Cambridge, Massachusetts: MIT Press, 1981.