public static DMatrixRMaj eulerToMatrix ( EulerType type , double rotA , double rotB , double rotC , DMatrixRMaj R ) { R = checkDeclare3x3 ( R ) ; DMatrixRMaj R_a = rotationAboutAxis ( type . getAxisA ( ) , rotA , null ) ; DMatrixRMaj R_b = rotationAboutAxis ( type . getAxisB ( ) , rotB , null ) ; DMatrixRMaj R_c = rotationAboutAxis ( type . getAxisC ( ) , rotC , null ) ; DMatrixRMaj A = new DMatrixRMaj ( 3 , 3 ) ; CommonOps_DDRM . mult ( R_b , R_a , A ) ; CommonOps_DDRM . mult ( R_c , A , R ) ; return R ; }
Converts an Euler coordinate into a rotation matrix . Different type of Euler coordinates are accepted .