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

rt_tr2eul_if

Library

Robotics

Description

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.

Default Properties

• 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

Interfacing Function

<PATH>/macros/rt_tr2eul_if.sci

Computational Function (type 5)

<PATH>/macros/rt_tr2eul_cf5.sci

See Also

rt_eul2tr_if,  rt_tr2rpy_if,  rt_tr2eul,  

Bibliography

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