Euler angle rotation matrices

Methods for rigid-body 3D rotation using Euler angles. More...

Functions

void initialize_rotation_matrix (double phi, double theta, double psi, BTKMatrix &rm)
 Initialize a pre-existing rotation matrix using Euler angles.
BTKMatrix create_rotation_matrix (double phi, double theta, double psi)
 Create a new rotation matrix using Euler angles.

Detailed Description

Methods for rigid-body 3D rotation using Euler angles.

Warning: Euler angles are library-specific! There are several commonly used conventions for defining Euler rotations, and therefore rotations are not always transferable between software packages.

The BTK provides the ability to create a rotation from Euler angles, assuming the 'X convention':

These are the conventions used in Mathematica, in case you're partial to that package. They may not be the same as whatever other package you're using, however, so beware!


Function Documentation

BTKMatrix BTK::MATH::create_rotation_matrix ( double  phi,
double  theta,
double  psi 
)

Create a new rotation matrix using Euler angles.

void initialize_rotation_matrix ( double  phi,
double  theta,
double  psi,
BTKMatrix rm 
)

Initialize a pre-existing rotation matrix using Euler angles.


Generated on Sun Jul 15 20:46:29 2007 for BTK Core by  doxygen 1.5.1