Transformation from Euler Angles
This block converts Euler angles into a homogeneous transformation matrix.
Library
MATLAB Command Line
Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:
qc_open_library('quarc_library/Math Operations/Homogeneous Transformations')Description
This block convert Euler angles into a homogeneous transformation matrix according to the Euler angle convention selected in the block parameters. All 24 possible combinations of rotations about fixed or relative axes are supported.
Input Ports
phi
This input is the angle in radians for the first rotation. The axis is determined by the first axis in the rotation order selected in the Rotation order parameter.
theta
This input is the angle in radians for the second rotation. The axis is determined by the second axis in the rotation order selected in the Rotation order parameter.
psi
This input is the angle in radians for the third rotation. The axis is determined by the third axis in the rotation order selected in the Rotation order parameter.
Output Ports
4x4
Outputs a 4x4 tranformation matrix.
Parameters and Dialog Box
Rotation order
Selects the Euler angle convention to use. There are 24 different definitions for Euler angles. The classic Euler angles consist of rotations where the first and third axes are the same e.g. a Z-X-Z convention. The roll-pitch-yaw or Tait-Byran angles consist of rotations where all the axes are different e.g. an X-Y-Z convention.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
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|
Yes |
Yes |
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|
Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
||
|
Yes |
Yes |
||
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Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
Last fully supported in QUARC 2018. |
|
|
Rapid Simulation (RSIM) Target |
Yes |
Yes |
|
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S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
See Also
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