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Martin Dieblich
21 lines
874 B
TeX
21 lines
874 B
TeX
\mynote{This is only for the 321-convention}
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The rotation matrix from euler angles is known
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\begin{equation}
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\mat R_m = \begin{pmatrix}
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cos(\Pitch)cos(\Yaw) & cos(\Pitch)sin(\Yaw) & -sin(\Pitch) \\
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sin(\Roll)sin(\Pitch)cos(\Yaw) - cos(\Roll)cos(\Yaw) & sin(\Roll)sin(\Pitch)sin(\Yaw) + cos(\Roll)cos(\Yaw) & sin(\Roll)cos(\Pitch) \\
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cos(\Roll)sin(\Pitch)cos(\Yaw) + sin(\Roll)sin(\Yaw) & cos(\Roll)sin(\Pitch)sin(\Yaw) - sin(\Roll)cos(\Yaw) & cos(\Roll)cos(\Pitch)
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\end{pmatrix}
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\end{equation}
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and the extraction is done vice versa.
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\begin{equation}
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\eu e = \begin{pmatrix}\Roll \\ \Pitch \\ \Yaw \end{pmatrix} =
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\begin{pmatrix}
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\arctan2(r_{23}, r_{33}) \\
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-\arcsin(r_{13}) \\
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\arctan2(r_{12}, r_{11})
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\end{pmatrix}
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\end{equation}
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\inHfile{INT32\_EULERS\_OF\_RMAT(e, rm)}{pprz\_algebra\_int}
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\inHfile{FLOAT\_EULERS\_OF\_RMAT(e, rm)}{pprz\_algebra\_float}
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