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.

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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':

• phi - first rotation, around the Z axis.
• theta - second rotation, around the X axis (in the range ).
• psi - third rotation, around Z axis.

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!

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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.

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