Engee documentation

Rodrigues to Direction Cosine Matrix

Creating a rotation matrix from a finite rotation vector.

rodrigues to direction cosine matrix

Description

The Rodrigues to Direction Cosine Matrix block generates the rotation matrix from the final rotation vector (Rodrigue vector) 𝛉 using the formula:



where 𝛉 - are normalised elements of the finite rotation vector.

Ports

Input

rod - vector of final rotation
`vector 3 by 1

Finite rotation vector 𝛉 .

Data types: Float64

Output

DCMbe - rotation matrix
`matrix 3 by 3

Rotation matrix.

Data types: Float64

Additional options

C code generation: Yes