angle2dcm

Convert rotation angles to direction cosine matrix

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Syntax

dcm = angle2dcm(rotationAng1,rotationAng2,rotationAng3)
dcm = angle2dcm(___,rotationSequence)

Description

dcm = angle2dcm(rotationAng1,rotationAng2,rotationAng3) calculates the direction cosine matrix dcm given a set of three rotation angles, rotationAng1, rotationAng2, and rotationAng3, using the default rotation sequence of 'ZYX' (yaw, pitch, roll). The rotation angles represent a series of right-hand intrinsic passive rotations from frame A to frame B. The resulting direction cosine matrix represents a right-hand passive rotation from frame A to frame B.

dcm = angle2dcm(___,rotationSequence) calculates the direction cosine matrix given the rotation sequence, rotationSequence. The rotation sequence parameter also specifies the order of the three rotation angles.

example

Examples

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Open Live Script

Calculate the direction cosine matrix from three rotation angles.

yaw = 0.7854;  
pitch = 0.1; 
roll = 0;
dcm = angle2dcm( yaw, pitch, roll )
dcm = 3×3

    0.7036    0.7036   -0.0998
   -0.7071    0.7071         0
    0.0706    0.0706    0.9950
Open Live Script

Calculate the direction cosine matrix from rotation angles and a rotation sequence.

yaw = [0.7854 0.5];  
pitch = [0.1 0.3];  
roll = [0 0.1];
dcm = angle2dcm( pitch, roll, yaw, 'YXZ' )
dcm = 
dcm(:,:,1) =

    0.7036    0.7071   -0.0706
   -0.7036    0.7071    0.0706
    0.0998         0    0.9950


dcm(:,:,2) =

    0.8525    0.4770   -0.2136
   -0.4321    0.8732    0.2254
    0.2940   -0.0998    0.9506

Input Arguments

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First rotation angles, specified as an m-by-1 array, in radians. The rotationAng1 argument represents the first rotation in rotationSequence.

Data Types: double | single

Second rotation angles, specified as an m-by-1 array, in radians. The rotationAng2 argument represents the second rotation in rotationSequence.

Data Types: double | single

Third rotation angles, specified as an m-by-1 array, in radians. The rotationAng3 argument represents the third rotation in rotationSequence.

Data Types: double | single

Rotation sequence, specified as a scalar. For sequences like 'ZXZ', there are two rotations about the same axis, such as two different yaw angles in 'ZXZ'.

Data Types: char | string

Output Arguments

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Direction cosine matrices, returned as a 3-by-3-by-m matrix, where m is the number of direction cosine matrices.

Version History

Introduced in R2006b

See Also

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