Direction Cosine Matrix to Rotation Angles

Conversion of rotation matrix to rotation angles.

blockType: SubSystem

Path in the library:

/Aerospace/Axes Transformations/Direction Cosine Matrix to Rotation Angles

Description

The Direction Cosine Matrix to Rotation Angles block converts the rotation matrix (cosine guide matrix ) into rotation angles and respectively. For example, the rotation order by default means the following sequence of rotations relative to the coordinate axes:

- rotation about the axis ;
- rotation around the axis ;
- rotation around the axis .

Ports

Input

# DCM_be — the rotation matrix
the 3 by 3 matrix

Details

The rotation matrix.

Data types	`Float64`
Complex numbers support	No

Output

R1R2R3[#] [R₁, R₂, R₃] — rotation angles
a 3-by-1 vector

Details

Rotation angles in radians.

Data types	`Float64`
Complex numbers support	No

Parameters

Main

# Rotation order — turn sequence
ZYX | ZYZ | ZXY | ZXZ | YXZ | YXY | YZX | YZY | XYZ | XYX | XZY | XZX

Details

A sequence of coordinate axes relative to which rotations are performed.

Values	`ZYX` \| `ZYZ` \| `ZXY` \| `ZXZ` \| `YXZ` \| `YXY` \| `YZX` \| `YZY` \| `XYZ` \| `XYX` \| `XZY` \| `XZX`
Default value	`ZYX`
Program usage name	`rotation_order`
Tunable	No
Evaluatable	Yes