FUNCTION SMC_Matrix3_ToZYZ_deg : BOOL
Computes the angles ZYZ euler angles A, B, and C from a rotation matrix mR. It is assumed that mR is a rotation matrix, i.e. that mR*mR^T = I and det(mR) = 1. The angles are in the following ranges: -180 < A, C <= 180, 0 <= B <= 180.
Postcondition: mR = Rz(A) * Ry(B) * Rz(C).
Note
In singular configurations, that is if B = 0° or B = 180°, C is set to 0° to make the representation unique.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Return |
SMC_Matrix3_ToZYZ_deg |
BOOL |
|
|
Inout Const |
mR |
The rotation matrix |
|
|
Output |
dA_deg |
LREAL |
Rotation around Z-axis in degree |
|
dB_deg |
LREAL |
Rotation around Y'-axis in degree |
|
|
dC_deg |
LREAL |
Rotation around Z'-axis in degree |
