Rodrigues to Rotation Angles
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Transformation of the Euler-Rodriguez vector into rotation angles.
blockType: SubSystem
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Path in the library: |
Description
Block Rodrigues to Rotation Angles converts the three-component Euler-Rodriguez vector into rotation angles. Euler–Rodriguez angles describe a right-handed passive rotation (that is, rotation of a coordinate system, not a vector) from a system into the system . The obtained rotation angles represent a sequence of right-handed proper (internal) passive rotations also from the system into the system .
Euler-Rodriguez vector ], where , , these are Euler-Rodrigues parameters. Vector represents a unit vector around which rotation is performed.
Parameters
Parameters
#
Rotation order —
rotation order
ZYX | ZYZ | ZXY | ZXZ | YXZ | YXY | YZX | YZY | XYZ | XYX | XZY | XZX
Details
The rotation order of the three rotation angles. For turns ZYX, ZXY, YXZ, YZX, XYZ and XZY the block generates an angle in the range of ±π/2 radian (±90 degrees) and angles and in the range of ±π radian (±180 degrees). For turns ZYZ, ZXZ, YXY, YZY, XYX and XZX the block generates an angle in the range of 0 before π radian (180 degrees), as well as angles and in the range of ±π (±180 degrees). However, in the latter case, when equally 0, is set to equal 0 The radian.
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| Tunable |
No |
| Evaluatable |
Yes |