Generation of rotation matrix around x,y,z axes: alpha_(yaw), beta_(pitch), gamma_(roll)

rotmat_xyz(alpha_ = 0, beta_ = 0, gamma_ = 0)

Arguments

alpha_

beta_

gamma_

Details

Value

References

Note

See also

Examples

##---- Should be DIRECTLY executable !! ---- ##-- ==> Define data, use random, ##-- or do help(data=index) for the standard data sets. ## The function is currently defined as function (alpha_ = 0, beta_ = 0, gamma_ = 0) { rx <- matrix(0, 3, 3) rx[1, 1] <- 1 rx[1, 2] <- 0 rx[1, 3] <- 0 rx[2, 1] <- 0 rx[2, 2] <- cos(gamma_) rx[2, 3] <- -sin(gamma_) rx[3, 1] <- 0 rx[3, 2] <- sin(gamma_) rx[3, 3] <- cos(gamma_) ry <- matrix(0, 3, 3) ry[1, 1] <- cos(beta_) ry[1, 2] <- 0 ry[1, 3] <- sin(beta_) ry[2, 1] <- 0 ry[2, 2] <- 1 ry[2, 3] <- 0 ry[3, 1] <- -sin(beta_) ry[3, 2] <- 0 ry[3, 3] <- cos(beta_) rz <- matrix(0, 3, 3) rz[1, 1] <- cos(alpha_) rz[1, 2] <- -sin(alpha_) rz[1, 3] <- 0 rz[2, 1] <- sin(alpha_) rz[2, 2] <- cos(alpha_) rz[2, 3] <- 0 rz[3, 1] <- 0 rz[3, 2] <- 0 rz[3, 3] <- 1 r <- rx %*% ry %*% rz r }
#> function (alpha_ = 0, beta_ = 0, gamma_ = 0) #> { #> rx <- matrix(0, 3, 3) #> rx[1, 1] <- 1 #> rx[1, 2] <- 0 #> rx[1, 3] <- 0 #> rx[2, 1] <- 0 #> rx[2, 2] <- cos(gamma_) #> rx[2, 3] <- -sin(gamma_) #> rx[3, 1] <- 0 #> rx[3, 2] <- sin(gamma_) #> rx[3, 3] <- cos(gamma_) #> ry <- matrix(0, 3, 3) #> ry[1, 1] <- cos(beta_) #> ry[1, 2] <- 0 #> ry[1, 3] <- sin(beta_) #> ry[2, 1] <- 0 #> ry[2, 2] <- 1 #> ry[2, 3] <- 0 #> ry[3, 1] <- -sin(beta_) #> ry[3, 2] <- 0 #> ry[3, 3] <- cos(beta_) #> rz <- matrix(0, 3, 3) #> rz[1, 1] <- cos(alpha_) #> rz[1, 2] <- -sin(alpha_) #> rz[1, 3] <- 0 #> rz[2, 1] <- sin(alpha_) #> rz[2, 2] <- cos(alpha_) #> rz[2, 3] <- 0 #> rz[3, 1] <- 0 #> rz[3, 2] <- 0 #> rz[3, 3] <- 1 #> r <- rx %*% ry %*% rz #> r #> } #> <environment: 0x10b269078>