make_euler_xyz_matrix

Specification

Location	Author	Maintained by
isl/math/euler.py	Kenny Erleben	DIKU

Find the angle from a euler rotation matrix

This function assumes that the order of the rotation is R(x)R(y)R(z). The implementation is inspired by section 2.6 in D. Everly.

Example

First import the module

    import isl.math.euler as eu

Then

    radians_x = -1.2 
    radians_y = np.pi / 2 
    radians_z = 1.2 
    matrix         = np.dot(mat3.Rx(radians_z), np.dot(mat3.Ry(radians_y), mat3.Rz(radians_x)))
    Euler          = eu.make_euler_xyz_from_matrix(matrix)
    Euler.alpha, Euler.beta, Euler.gamma

Output

array([-0.65208111, -0.62503103,  0.42909955])