Evaluation of intrinsic rotations

We provide an alternative to the function rotm2eul from Robotics System Toolbox and comparisons.

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).