# angle2dcm

Convert rotation angles to direction cosine matrix

## Description

example

dcm = angle2dcm(rotationAng1,rotationAng2,rotationAng3) calculates the direction cosine matrix dcm given three sets of rotation angles, rotationAng1, rotationAng2, and rotationAng3, specifying yaw, pitch, and roll. The rotation used in this function is a passive transformation between two coordinate systems.

dcm = angle2dcm(___,rotationSequence) calculates the direction cosine matrix given the rotation sequence, rotationSequence.

## Examples

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Calculate the direction cosine matrix from three rotation angles.

yaw = 0.7854;
pitch = 0.1;
roll = 0;
dcm = angle2dcm( yaw, pitch, roll )
dcm = 3×3

0.7036    0.7036   -0.0998
-0.7071    0.7071         0
0.0706    0.0706    0.9950

Calculate the direction cosine matrix from rotation angles and a rotation sequence.

yaw = [0.7854 0.5];
pitch = [0.1 0.3];
roll = [0 0.1];
dcm = angle2dcm( pitch, roll, yaw, 'YXZ' )
dcm =
dcm(:,:,1) =

0.7036    0.7071   -0.0706
-0.7036    0.7071    0.0706
0.0998         0    0.9950

dcm(:,:,2) =

0.8525    0.4770   -0.2136
-0.4321    0.8732    0.2254
0.2940   -0.0998    0.9506

## Input Arguments

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First rotation angles, specified as an m-by-1 array, in radians.

Data Types: double | single

Second rotation angles, specified as an m-by-1 array, in radians.

Data Types: double | single

Third rotation angles, specified as an m-by-1 array, in radians.

Data Types: double | single

Rotation sequence, specified as a scalar.

Data Types: char | string

## Output Arguments

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Direction cosine matrices, returned as a 3-by-3-by-m matrix, where m is the number of direction cosine matrices.

## Version History

Introduced in R2006b