Engee documentation

Rotation Angles to Direction Cosine Matrix

Creating a rotation matrix with respect to coordinate axes.

rotation angles to direction cosine matrix

Description

The Rotation Angles to Direction Cosine Matrix block generates a matrix of rotation relative to coordinate axes by the vector of rotation angles .

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

[R1, R2, R3] - rotation angles
`vector 3 to 1

Angles of rotation, rad.

Data types: Float64.

Output

DCMbe - rotation matrix
`matrix 3 by 3

Rotation matrix.

Data types: Float64.

Parameters

Rotation Order - sequence of rotations
ZYX (by default) | ZYZ | ZXY | ZXY | ZXZ | YXZ | YXY | YXY | YZY | XYZ | XYX | XZY | XZX | XZX

The sequence of coordinate axes about which rotations are performed.

Additional options

C code generation: Yes