tagtools (version 0.2.0)

euler2rotmat: Make a rotation (or direction cosine) matrix

Description

This function is used to make a rotation (or direction cosine) matrix out of sets of Euler angles, pitch, roll, and heading.

Usage

euler2rotmat(p, r, h)

Value

One or more 3x3 rotation matrices. If p, r, and h are all scalars, Q is a 3x3 matrix, Q = H

Arguments

p

The pitch angle in radians.

r

The roll angle in radians.

h

The heading or yaw angle in radians.

Examples

vec1 <- matrix(c(1:10), nrow = 10)
vec2 <- matrix(c(11:20), nrow = 10)
vec3 <- matrix(c(21:30), nrow = 10)
Q <- euler2rotmat(p = vec1, r = vec2, h = vec3)