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69 lines
2.2 KiB
69 lines
2.2 KiB
%EUL2R Convert Euler angles to rotation matrix
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%
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% R = EUL2R(PHI, THETA, PSI, OPTIONS) is an orthonornal rotation matrix
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% equivalent to the specified Euler angles. These correspond to rotations
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% about the Z, Y, Z axes respectively. If PHI, THETA, PSI are column vectors
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% then they are assumed to represent a trajectory and R is a three dimensional
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% matrix, where the last index corresponds to rows of PHI, THETA, PSI.
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%
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% R = EUL2R(EUL, OPTIONS) as above but the Euler angles are taken from
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% consecutive columns of the passed matrix EUL = [PHI THETA PSI].
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%
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% Options::
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% 'deg' Compute angles in degrees (radians default)
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%
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% Note::
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% - The vectors PHI, THETA, PSI must be of the same length.
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%
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% See also EUL2TR, RPY2TR, TR2EUL.
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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 R = eul2r(phi, varargin)
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opt.deg = false;
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[opt,args] = tb_optparse(opt, varargin);
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% unpack the arguments
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if numcols(phi) == 3
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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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theta = args{1};
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psi = args{2};
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else
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error('bad arguments')
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end
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% optionally convert from degrees
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if opt.deg
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d2r = pi/180.0;
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phi = phi * d2r;
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theta = theta * d2r;
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psi = psi * d2r;
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end
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if numrows(phi) == 1
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R = rotz(phi) * roty(theta) * rotz(psi);
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else
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R = zeros(3,3,numrows(phi));
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for i=1:numrows(phi)
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R(:,:,i) = rotz(phi(i)) * roty(theta(i)) * rotz(psi(i));
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end
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end
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