Rotation Angles to Direction Cosine Matrix

Convert rotation angles to direction cosine matrix

• Library:

• Aerospace Blockset / 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, of the first, second, and third rotation angles, respectively. 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.

Ports

Input

[R1,R2,R3] — Rotation angles

3-by-1 vector

Rotation angles, specified as a 3-by-1 vector, in radians.

Data Types: double

Output

DCMbe — Direction cosine matrix

3-by-3 matrix

Direction cosine matrix that performs coordinate transformations based on rotation angles, returned as a 3-by-3 matrix.

Data Types: double

Parameters

Rotation Order — Rotation order

ZYX (default) | ZYZ | ZXY | ZXZ | YXZ | YXY | YZX | YZY | XYZ | XYX | XZY | XZX

Input rotation order for the three rotation angles.

Programmatic Use

Block Parameter: rotationOrder

Type: character vector

Values: 'ZYX' | 'ZYZ' |'ZXY' | 'ZXZ' | 'YXZ' | 'YXY' | 'YZX' | 'YZY' | 'XYZ' | 'XYX' | 'XZY' | 'XZX'

Default: 'ZYX'

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2007b