Rotation Angles to Rodrigues

Creating a finite rotation vector from rotation angles.

rotation angles to rodrigues

Description

The Rotation Angles to Rodrigues block generates the final rotation vector (Rodrigue vector) from the vector of rotation angles .

For example, the order of rotations by default means the following sequence of rotations relative to 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

rod - vector of final rotation
`vector 3 by 1

Finite rotation vector .

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.