eulerAngles2rotationMatrix.zip_euler angle_euler matrix

function rotMatrix = eulerAngles2rotationMatrix(rotAngles) % rotMatrix = eulerAngles2rotationMatrix(rotAngles) % % This function converts rotation angles into rotation matrix % % rotAngles : [rx ry rz] in degrees % % rotMatrix : data(3xN)*R format % % Code written and all rights reserved by Dr. Ajmal Mian % % Copyright : This code is written by Ajmal Saeed Mian {[email protected]} % Computer Science, The University of Western Australia. The code % may be used, modified and distributed for research purposes with % acknowledgement of the author and inclusion this copyright information. % % Disclaimer : This code is provided as is without any warrantly. psi = rotAngles(1)*pi/180; theta = rotAngles(2)*pi/180; phi = rotAngles(3)*pi/180; rotMatrix = [cos(theta)*cos(phi) sin(psi)*sin(theta)*cos(phi)-cos(psi)*sin(phi) cos(psi)*sin(theta)*cos(phi)+sin(psi)*sin(phi); ... cos(theta)*sin(phi) sin(psi)*sin(theta)*sin(phi)+cos(psi)*cos(phi) cos(psi)*sin(theta)*sin(phi)-sin(psi)*cos(phi); ... -sin(theta) sin(psi)*cos(theta) cos(psi)*cos(theta)]; rotMatrix = rotMatrix';