eul = rotm2eul(rotm)
converts a rotation matrix, rotm, to the corresponding Euler
angles, eul. The input rotation matrix must be in the
premultiply form for rotations. The default order for Euler angle rotations is
"ZYX".
eul = rotm2eul(rotm,sequence)
converts a rotation matrix to Euler angles. The Euler angles are specified in the
axis rotation sequence, sequence. The default order for Euler
angle rotations is "ZYX".
Rotation matrix, specified as a 3-by-3-by-n matrix containing
n rotation matrices. Each rotation matrix has a size
of 3-by-3 and is orthonormal. The input rotation matrix must be in the
premultiply form for rotations.
Note
Rotation matrices that are slightly non-orthonormal can give
complex outputs. Consider validating your matrix before inputting to
the function.
Axis-rotation sequence for the Euler angles, specified as one of these string scalars:
"ZYX" (default)
"ZYZ"
"ZXY"
"ZXZ"
"YXY"
"YZX"
"YXZ"
"YZY"
"XYX"
"XYZ"
"XZX"
"XZY"
Each character indicates the corresponding axis. For example, if the
sequence is "ZYX", then the three specified Euler angles are
interpreted in order as a rotation around the z-axis, a rotation
around the y-axis, and a rotation around the
x-axis. When applying this rotation to a point, it will apply the
axis rotations in the order x, then y, then
z.
rotm2eul supports additional Euler sequences for the
sequence argument. These are all the supported Euler sequences:
"ZYX"
"ZYZ"
"ZXY"
"ZXZ"
"YXY"
"YZX"
"YXZ"
"YZY"
"XYX"
"XYZ"
"XZX"
"XZY"
R2020a: Alternate Euler angle output
rotm2eul now optionally outputs an alternate set of Euler
angles eulAlt that also represent the same rotation as the
original output Euler angles eul. So if you use
eul or eulAlt to rotate a point, the
resulting point is the same.
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