Dcm2euler.m

Converts directional cosine matrix into Euler angles, ZYZ active convention (rotating the object rather than the axes).

Syntax

               [alpha,beta,gamma]=dcm2euler(dcm)

                              OR

                     angles=dcm2euler(dcm)

Arguments

    dcm                - directional cosine matrix

Outputs

    alpha, beta, gamma - Euler angles in ZYZ active con-
                         vention, radians

    angles             - a row vector of Euler angles in
                         ZYZ active convention, ordered 
                         as alpha, beta, gamma, in radians

Notes

The problem of recovering Euler angles from a DCM is, in general, ill-posed. This function is a product of considerable work, it has passed rigorous testing: it either returns a correct answer or gives an informative error. See the notes on rotation conventions for the basic definitions of rotations in Spinach.

See also

euler2dcm.m, Wigner.m, dcm2wigner.m

Version 2.3, authors: Ilya Kuprov