# angle2dcm

Convert rotation angles to direction cosine matrix

## Syntax

``dcm = angle2dcm(rotationAng1,rotationAng2,rotationAng3)``
``dcm = angle2dcm(___,rotationSequence)``

## Description

example

````dcm = angle2dcm(rotationAng1,rotationAng2,rotationAng3)` calculates the direction cosine matrix `dcm` given three sets of rotation angles, `rotationAng1`, `rotationAng2`, and `rotationAng3`, specifying yaw, pitch, and roll. The rotation angles represent a passive transformation from frame A to frame B. The resulting direction cosine matrix represents a series of right-hand intrinsic passive rotations from frame A to frame B.`dcm = angle2dcm(___,rotationSequence)` calculates the direction cosine matrix given the rotation sequence, `rotationSequence`.```

## Examples

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Calculate the direction cosine matrix from three rotation angles.

```yaw = 0.7854; pitch = 0.1; roll = 0; dcm = angle2dcm( yaw, pitch, roll )```
```dcm = 3×3 0.7036 0.7036 -0.0998 -0.7071 0.7071 0 0.0706 0.0706 0.9950 ```

Calculate the direction cosine matrix from rotation angles and a rotation sequence.

```yaw = [0.7854 0.5]; pitch = [0.1 0.3]; roll = [0 0.1]; dcm = angle2dcm( pitch, roll, yaw, 'YXZ' )```
```dcm = dcm(:,:,1) = 0.7036 0.7071 -0.0706 -0.7036 0.7071 0.0706 0.0998 0 0.9950 dcm(:,:,2) = 0.8525 0.4770 -0.2136 -0.4321 0.8732 0.2254 0.2940 -0.0998 0.9506 ```

## Input Arguments

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First rotation angles, specified as an m-by-1 array, in radians.

Data Types: `double` | `single`

Second rotation angles, specified as an m-by-1 array, in radians.

Data Types: `double` | `single`

Third rotation angles, specified as an m-by-1 array, in radians.

Data Types: `double` | `single`

Rotation sequence, specified as a scalar.

Data Types: `char` | `string`

## Output Arguments

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Direction cosine matrices, returned as a 3-by-3-by-m matrix, where `m` is the number of direction cosine matrices.

## Version History

Introduced in R2006b