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45 lines
1.5 KiB
45 lines
1.5 KiB
%EUL2JAC Euler angle rate Jacobian
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%
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% J = EUL2JAC(EUL) is a Jacobian matrix (3x3) that maps Euler angle rates to
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% angular velocity at the operating point EUL=[PHI, THETA, PSI].
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%
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% J = EUL2JAC(PHI, THETA, PSI) as above but the Euler angles are passed
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% as separate arguments.
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%
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% Notes::
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% - Used in the creation of an analytical Jacobian.
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%
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% See also RPY2JAC, SERIALlINK.JACOBN.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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function J = eul2jac(phi, theta, psi)
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if length(phi) == 3
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% eul2jac([phi theta psi])
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theta = phi(2);
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psi = phi(3);
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phi = phi(1);
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elseif nargin ~= 3
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error('RTB:eul2jac:badarg', 'bad arguments');
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end
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J = [ 0, -sin(phi), cos(phi)*sin(theta)
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0, cos(phi), sin(phi)*sin(theta)
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1, 0, cos(theta) ];
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