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%EUL2TR Convert Euler angles to homogeneous transformation % % TR = EUL2TR([PHI THETA PSI]) % TR = EUL2TR(PHI, THETA, PSI) % % Returns a homogeneous tranformation for the specified Euler angles. These % correspond to rotations about the Z, Y, Z axes respectively. % % See also: TR2EUL, RPY2TR % Copyright (C) 1993-2008, by Peter I. Corke % % This file is part of The Robotics Toolbox for Matlab (RTB). % % RTB is free software: you can redistribute it and/or modify % it under the terms of the GNU Lesser General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % RTB is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU Lesser General Public License for more details. % % You should have received a copy of the GNU Leser General Public License % along with RTB. If not, see <http://www.gnu.org/licenses/>. function T = eul2tr(phi, theta, psi) if (nargin == 1), if numcols(phi) ~= 3, error('bad arguments') end theta = phi(:,2); psi = phi(:,3); phi = phi(:,1); end if numrows(phi) == 1, r = rotz(phi) * roty(theta) * rotz(psi); T = r2t(r); else for i=1:numrows(phi), r = rotz(phi) * roty(theta) * rotz(psi); T(:,:,1) = r2t(r); end end