orientlib (version 0.10.5)

eulerzyx: Create an orientation using Euler angles

Description

Creates an eulerzyx-class object.

Usage

eulerzyx(psi, theta, phi)

Value

An eulerzyx-class object.

Arguments

psi

Rotation about Z axis

theta

Rotation about Y axis

phi

Rotation about X axis

Author

Duncan Murdoch

Details

The rotations are expressed in radians and applied in the order Z, Y, X.

If theta and phi are missing, psi is taken to be an n x 3 matrix (or 3 element vector) holding all 3 Euler angles; alternatively, any orientation object may be used.

See Also

eulerzyx-class, rotmatrix, rotvector, quaternion, skewvector, skewmatrix

Examples

x <- eulerzyx(c(1,0,0), c(0,1,0), c(0,0,1))
x
rotmatrix(x)