Evaluation of intrinsic rotations

バージョン 1.0.0 (167 KB) 作成者: Jan Valdman
We provide an alternative to the function rotm2eul from Robotics System Toolbox and comparisons.
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更新 2023/8/6

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Intrinsic angles corresponding to a given rotation matrix R and a rotation sequence SEQ by our new function
rotm2ang
The function partially extends the function
rotm2eul
from Robotics System Toolbox in the version <=2021a.
The function rotm2ang suports all 6 permutations: XYZ, XZY, YXZ, YZX, ZXY, ZYX.
The function rotm2eul supports ZYX, ZYZ, XYZ in the version <=2021b and all permutations above in later versions.
The code
demo1.m
compares outputs of rotm2ang and rotm2eul .
The code
demo2
provides additional visualization
An explanation how the function rotm2ang works is explained in the article of Radek Lehner, Jan Valdman, Helena Zidkova (in preparation).

引用

Jan Valdman (2024). Evaluation of intrinsic rotations (https://www.mathworks.com/matlabcentral/fileexchange/133287-evaluation-of-intrinsic-rotations), MATLAB Central File Exchange. に取得済み.

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作成: R2023a
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1.0.0