Conversion between Euler angles and rotation matrix --- Matlab code

[Hiho]

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

[Sha Ma]

hehe,thank you very much!!! ^_^

2008/4/11, Hiho <haifen...@gmail.com>:

[Haifeng Gong]

hehe

I use this Google Group to preserve my reusable code.

Haifeng

--
Haifeng GONG
Post-doctoral Scholar
Department of Statistics, UCLA

[anon]

This code is buggy. Compare to http://nghiaho.com/uploads/code/rotation_matrix_demo.m