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Tilt angle

Since R2023b



T = tilt(orientations) returns the tilt angles based on the specified orientations. See Tilt Angle Definition for more details.


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Define four sets of Euler angles and obtain their corresponding quaternions.

angles = [0 0 0; 0 0 10; 0 0 170; 0 0 190];
quats = quaternion(angles,"eulerd","ZYX","frame");

Obtain the tilt angles and convert their units to degrees.

tiltAngles = rad2deg(tilt(quats))
tiltAngles = 4×1


Input Arguments

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Orientations, specified as an N-by-1 vector of quaternion objects or as a 3-by-3-by-N array of rotation matrices. N is the total number of orientations.

Output Arguments

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Tilt angles, in radians, returned as an N-element column vector of scalars in the range [0, pi]. N is the total number of orientations.

More About

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Tilt Angle Definition

The tilt angle is defined as the angle between the positive-Z direction of the reference frame and the positive-z direction of the body frame. The orientations input defines the rotational coordinate transformation from the reference frame to the body frame.

Tilt angle

Extended Capabilities

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

Version History

Introduced in R2023b