Conversion between Euler angles and rotation matrix --- Matlab code
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From: Hiho <haifeng.g...@gmail.com>Date: Thu, 10 Apr 2008 20:37:07 -0700 (PDT)
Local: Thurs, Apr 10 2008 11:37 pm
Subject: Conversion between Euler angles and rotation matrix --- Matlab code
function orthm = ang2orth(ang)
sa = sin(ang(2)); ca = cos(ang(2));
sb = sin(ang(1)); cb = cos(ang(1));
sc = sin(ang(3)); cc = cos(ang(3));
ra = [ ca, sa, 0; ...
-sa, ca, 0; ...
0, 0, 1];
rb = [ cb, 0, sb; ...
0, 1, 0; ...
-sb, 0, cb];
rc = [ 1, 0, 0; ...
0, cc, sc;...
0, -sc, cc];
orthm = rc*rb*ra;
function ang = orth2ang(orthm)
ang(1) = asin(orthm(1,3)); %Wei du
ang(2) = angle( orthm(1,1:2)*[1 ;i] ); %Jing Du
yz = orthm* ...
[orthm(1,:)',...
[-sin(ang(2)); cos(ang(2)); 0],...
[-sin(ang(1))*cos(ang(2)); -sin(ang(1)*sin(ang(2)));
cos(ang(1))] ];
ang(3) = angle(yz(2,2:3)* [1; i]); % Xuan Du
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From: "Sha Ma" <masha....@gmail.com>Date: Fri, 11 Apr 2008 13:16:24 +0800
Local: Fri, Apr 11 2008 1:16 am
Subject: Re: Conversion between Euler angles and rotation matrix --- Matlab code
hehe,thank you very much!!! ^_^
2008/4/11, Hiho <haifeng.g...@gmail.com>:
> function orthm = ang2orth(ang)
> sa = sin(ang(2)); ca = cos(ang(2));
> sb = sin(ang(1)); cb = cos(ang(1));
> sc = sin(ang(3)); cc = cos(ang(3));
> ra = [ ca, sa, 0; ...
> -sa, ca, 0; ...
> 0, 0, 1];
> rb = [ cb, 0, sb; ...
> 0, 1, 0; ...
> -sb, 0, cb];
> rc = [ 1, 0, 0; ...
> 0, cc, sc;...
> 0, -sc, cc];
> orthm = rc*rb*ra;
> function ang = orth2ang(orthm)
> ang(1) = asin(orthm(1,3)); %Wei du
> ang(2) = angle( orthm(1,1:2)*[1 ;i] ); %Jing Du
> yz = orthm* ...
> [orthm(1,:)',...
> [-sin(ang(2)); cos(ang(2)); 0],...
> [-sin(ang(1))*cos(ang(2)); -sin(ang(1)*sin(ang(2)));
> cos(ang(1))] ];
> ang(3) = angle(yz(2,2:3)* [1; i]); % Xuan Du
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From: "Haifeng Gong" <haifeng.g...@gmail.com>Date: Fri, 11 Apr 2008 10:20:15 -0700
Local: Fri, Apr 11 2008 1:20 pm
Subject: Re: Conversion between Euler angles and rotation matrix --- Matlab code
hehe I use this Google Group to preserve my reusable code.
Haifeng
On Thu, Apr 10, 2008 at 10:16 PM, Sha Ma <masha. ...@gmail.com> wrote: > hehe,thank you very much!!! ^_^ > 2008/4/11, Hiho <haifeng.g...@gmail.com>:
> > function orthm = ang2orth(ang)
> > sa = sin(ang(2)); ca = cos(ang(2));
> > sb = sin(ang(1)); cb = cos(ang(1));
> > sc = sin(ang(3)); cc = cos(ang(3));
> > ra = [ ca, sa, 0; ...
> > -sa, ca, 0; ...
> > 0, 0, 1];
> > rb = [ cb, 0, sb; ...
> > 0, 1, 0; ...
> > -sb, 0, cb];
> > rc = [ 1, 0, 0; ...
> > 0, cc, sc;...
> > 0, -sc, cc];
> > orthm = rc*rb*ra;
> > function ang = orth2ang(orthm)
> > ang(1) = asin(orthm(1,3)); %Wei du
> > ang(2) = angle( orthm(1,1:2)*[1 ;i] ); %Jing Du
> > yz = orthm* ...
> > [orthm(1,:)',...
> > [-sin(ang(2)); cos(ang(2)); 0],...
> > [-sin(ang(1))*cos(ang(2)); -sin(ang(1)*sin(ang(2)));
> > cos(ang(1))] ];
> > ang(3) = angle(yz(2,2:3)* [1; i]); % Xuan Du
-- Haifeng GONG Post-doctoral Scholar Department of Statistics, UCLA
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