DCM2euler

Below is a demonstration of the features of the DCM2euler function

Syntax
Description
Examples
Retrieving the Euler andles from a rotation tensor
Handling symbolic expressions

clear; close all; clc;

Syntax

[a]=DCM2euler(Q);

Description

This function is the inverse of the euler2DCM function. The Euler angles a are derived based on the input rotatin tensor Q.

Examples

Plot settings

fontSize=25;

Retrieving the Euler andles from a rotation tensor

Get example patch data

[F,V]=parasaurolophus;

Defining sets of true Euler angles for X, Y and Z axis rotation

a_true=[0.25*pi 0.25*pi -0.25*pi]

a_true =

    0.7854    0.7854   -0.7854

Use euler2DCM function to define the rotation tensor

[Q]=euler2DCM(a_true);

Use DCM2euler to retrieve the Euler angles

a_fit=DCM2euler(Q)

a_fit =

    0.7854    0.7854   -0.7854

Handling symbolic expressions

try
    syms a b c

    a_true=[a b c]
    Q=euler2DCM(a_true);

    a_fit=DCM2euler(Q)

catch
    warning('Symbolic toolbox likely missing')
end

 
a_true =
 
[ a, b, c]
 
 
a_fit =
 
[ -atan2(-cos(b)*sin(a), cos(a)*cos(b)), -atan2(-sin(b), (cos(a)^2*cos(b)^2 + cos(b)^2*sin(a)^2)^(1/2)), -atan2(-cos(b)*sin(c), cos(b)*cos(c))]

GIBBON www.gibboncode.org

Kevin Mattheus Moerman, [email protected]

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License: https://github.com/gibbonCode/GIBBON/blob/master/LICENSE

GIBBON: The Geometry and Image-based Bioengineering add-On. A toolbox for image segmentation, image-based modeling, meshing, and finite element analysis.

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