tagtools (version 0.2.0)

rotmat2euler: Decompose a rotation (or direction cosine) matrix

Description

This function is used to decompose a rotation (or direction cosine) matrix into Euler angles, pitch, roll, and heading.

Usage

rotmat2euler(Q)

Value

A 1x3 vector containing: prh=[p,r,h] where p is the pitch angle in radians, r is the roll angle in radians, and h is the heading or yaw angle in radians.

Arguments

Q

is a 3x3 rotation matrix.

Examples

set <- matrix(c(0.6765458, 0.7227523, 0.1411200,
0.3675912, -0.4975063, 0.7857252,
0.6380928, -0.4797047, -0.6022632), nrow = 3, ncol = 3)
rotmat2euler(set)