sequenceAngles

R2026b

Class: simscape.multibody.Transformation
Namespace: simscape.multibody

Extract rotation sequence angles from transformation

Since R2026b

Syntax

angles = sequenceAngles(t,axes,sequence)

Description

angles = sequenceAngles(t,axes,sequence) extracts the rotation angles for the specified convention and axis sequence from the rotation of the transformation.

Input Arguments

t — Transformation

simscape.multibody.Transformation object

Transformation, specified as a simscape.multibody.Transformation object.

axes — Axes convention

Follower | Base

Axes convention for the rotation sequence, specified as Follower for intrinsic rotations about the axes of the rotating frame or Base for extrinsic rotations about the fixed frame axes. For more information, see Rotation Sequence Measurements.

sequence — Rotation axis sequence

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

Three-character string specifying the order of rotation axes. For more information, see Rotation Sequence Measurements.

Output Arguments

angles — Rotation angles

simscape.Value

Rotation angles for the specified sequence, returned as a simscape.Value object that has a 1-by-3 array and angle unit.

Attributes

Access

public

To learn about attributes of methods, see Method Attributes.

Examples

Extract ZYX Rotation Angles from a Transformation

Extract rotation sequence angles from a simscape.multibody.Transformation object.

Create a rotation defined by three intrinsic ZYX angles and convert it to a transformation.

rot = simscape.multibody.RotationSequenceRotation("Follower","ZYX",simscape.Value([30 45 60],"deg"));
t = transformation(rot);

Extract the rotation angles for the intrinsic ZYX rotation sequence.

angles = sequenceAngles(t,"Follower","ZYX")

angles =
    0.5236    0.7854    1.0472

    (rad)

Version History

Introduced in R2026b