tr2eul
Convert SO(3) or SE(3) matrix to Euler angles
EUL = TR2EUL(T, OPTIONS) are the ZYZ Euler angles (1×3) corresponding to the rotational part of a homogeneous transform T (4×4). The 3 angles EUL=[PHI,THETA,PSI] correspond to sequential rotations about the Z, Y and Z axes respectively.
EUL = TR2EUL(R, OPTIONS) as above but the input is an orthonormal rotation matrix R (3×3).
If R (3×3× K) or T (4×4× K) represent a sequence then each row of EUL corresponds to a step of the sequence.
Options
'deg' | Compute angles in degrees (radians default) |
'flip' | Choose first Euler angle to be in quadrant 2 or 3. |
Notes
- There is a singularity for the case where THETA=0 in which case PHI is arbitrarily set to zero and PSI is the sum (PHI+PSI).
- Translation component is ignored.