www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/ExtractEulerAnglesfromHomogeneousTransformationMatrixExample.m

    %% Extract Euler Angles from Homogeneous Transformation Matrix  

% Copyright 2015 The MathWorks, Inc.


%%  
tform = [1 0 0 0.5; 0 -1 0 5; 0 0 -1 -1.2; 0 0 0 1];
eulZYX = tform2eul(tform)