Rotation Angles to Direction Cosine Matrix

Convert rotation angles to direction cosine matrix

Library

Utilities/Axes Transformations

Description

The Rotation Angles to Direction Cosine Matrix block determines the direction cosine matrix (DCM) from a given set of rotation angles, R1, R2, and R3, respectively the first, second, and third rotation angles. For example, the default rotation angle order ZYX represents a sequence where R1 is z-axis rotation (yaw), R2 is y-axis rotation (pitch), and R3 is x-axis rotation (roll). Use the Rotation Order parameter to change the sequence.

The output is a 3-by-3 DCM that performs coordinate transformations based on rotation angles.

Parameters

Rotation Order

Specifies the input rotation order for three rotation angles. From the list, select ZYX, ZYZ, ZXY, ZXZ, YXZ, YXY, YZX, YZY, XYZ, XYX, XZY, or XZX. The default is ZYX.

Inputs and Outputs

Input	Dimension Type	Description
First	3-by-1 vector	Contains the rotation angles, in radians.

Output	Dimension Type	Description
First	3-by-3 matrix	Contains the direction cosine matrix.