angle2dcm convention

it's not really a question but it might produce some mistakes to other users. I'd worked with angle2dcm and noticed that its result are the transpose matrix if we follow euler's convention, which is the convention i used to work with (and some others), probably other professional fields use the transpose convention. Perhaps you should state this at angle2dcm description. I attach an example with euler's ZYX dcm convention released by the MIT.

[James Tursa]

See this link for a discussion of the MATLAB quaternion convention:

https://www.mathworks.com/matlabcentral/answers/465053-rotation-order-of-quatrotate

Answer 1

[Jan]

It is a question of the view point: The rotation matrix can rotate the object or the coordinate system. As you mentioned already, the conventions are different in e.g. space craft and biomechanics.

See also: https://www.mathworks.com/matlabcentral/answers/313150-why-is-the-result-of-quaternion-rotation-an-matrix-multiplication-not-the-same.