euler

Convert quaternion to Euler angles (radians)

Syntax

eulerAngles = euler(quat,rotationSequence,rotationType)

Description

eulerAngles = euler(quat,rotationSequence,rotationType) converts the quaternion, quat, to an N-by-3 matrix of Euler angles.

Examples

Convert Quaternion to Euler Angles in Radians

Convert a quaternion frame rotation to Euler angles in radians using the "ZYX" rotation sequence.

quat = quaternion([0.7071 0.7071 0 0]);
eulerAnglesRandians = euler(quat,"ZYX","frame")

eulerAnglesRandians = 1×3

         0         0    1.5708

Input Arguments

quat — Quaternion to convert to Euler angles

quaternion object | array of quaternion objects

Quaternion to convert to Euler angles, specified as a quaternion object or an array of quaternion objects of any dimensionality.

rotationSequence — Rotation sequence

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

Rotation sequence of Euler angle representation, specified as one of these values.

• "YZY"

• "YXY"

• "ZYZ"

• "ZXZ"

• "XYX"

• "XZX"

• "XYZ"

• "YZX"

• "ZXY"

• "XZY"

• "ZYX"

• "YXZ"

The rotation sequence defines the order of rotations about the axes. For example, if you specify a rotation sequence of "YZX":

1. The first rotation is about the y-axis.

2. The second rotation is about the new z-axis.

3. The third rotation is about the new x-axis.

Data Types: char | string

rotationType — Type of rotation

"point" | "frame"

Type of rotation, specified as "point" or "frame".

In a point rotation, the frame is static and the point moves. In a frame rotation, the point is static and the frame moves. Point rotation and frame rotation define equivalent angular displacements but in opposite directions.

Data Types: char | string

Output Arguments

eulerAngles — Euler angle representation (radians)

N-by-3 numeric matrix

Euler angle representation in radians, returned as an N-by-3 numeric matrix, where N is the number of quaternions in the quat argument.

For each row of eulerAngles, the first element corresponds to the first axis in the rotation sequence, the second element corresponds to the second axis in the rotation sequence, and the third element corresponds to the third axis in the rotation sequence.

The data type of the Euler angles representation is the same as the underlying data type of quat.

Data Types: single | double

Extended Capabilities

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

Version History

Introduced in R2019b