orientlib (version 0.10.5)

eulerzxz: Create an orientation using Euler angles

Description

Creates an eulerzxz-class object.

Usage

eulerzxz(phi, theta, psi)

Value

An eulerzxz-class object.

Arguments

phi

Rotation about Z axis

theta

Rotation about X axis

psi

Further rotation about Z axis

Author

Duncan Murdoch

Details

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

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

See Also

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

Examples

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