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tform2eul

Extract Euler angles from homogeneous transformation

Description

example

eul = tform2eul(tform) extracts the rotational component from a homogeneous transformation, tform, and returns it as Euler angles, eul. The translational components of tform are ignored. The input homogeneous transformation must be in the premultiply form for transformations. The default order for Euler angle rotations is "ZYX".

example

eul = tform2eul(tform, sequence) extracts the Euler angles, eul, from a homogeneous transformation, tform, using the specified rotation sequence, sequence. The default order for Euler angle rotations is "ZYX".

Examples

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tform = [1 0 0 0.5; 0 -1 0 5; 0 0 -1 -1.2; 0 0 0 1];
eulZYX = tform2eul(tform)
eulZYX = 1×3

         0         0    3.1416

tform = [1 0 0 0.5; 0 -1 0 5; 0 0 -1 -1.2; 0 0 0 1];
eulZYZ = tform2eul(tform,'ZYZ')
eulZYZ = 1×3

         0   -3.1416    3.1416

Input Arguments

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Homogeneous transformation, specified by a 4-by-4-by-n matrix of n homogeneous transformations. The input homogeneous transformation must be in the premultiply form for transformations.

Example: [0 0 1 0; 0 1 0 0; -1 0 0 0; 0 0 0 1]

Axis rotation sequence for the Euler angles, specified as one of these string scalars:

  • "ZYX" (default) – The order of rotation angles is z-axis, y-axis, x-axis.

  • "ZYZ" – The order of rotation angles is z-axis, y-axis, z-axis.

  • "XYZ" – The order of rotation angles is x-axis, y-axis, z-axis.

Data Types: string | char

Output Arguments

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Euler rotation angles in radians, returned as an n-by-3 array of Euler rotation angles. Each row represents one Euler angle set.

Example: [0 0 1.5708]

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

See Also

Introduced in R2015a