From direction cosine matrix to Cardan angles - Two different Matlab codes, different results
0
$begingroup$
I have two Matlab codes to get the Cardan angles (ZXY sequence) starting from a given direction cosine matrix (dcm), but the results are different. Why?
The dcm is:
dcm = [0.5972 -0.7833 0.1729;
0.7990 0.5987 -0.0553;
-0.0592 0.1719 0.9832];
First code (alpha=angle around x, beta=angle around y, gamma=angle around z):
[gamma, alpha, beta] = dcm2angle(dcm,'ZXY');
% Result:
% -0.9277 -0.0553 -0.1741
Second code:
if abs(dcm(3,2)) ~= 1
alpha = asin(dcm(3,2));
%
if dcm(3,3) >= 0
beta = asin(-dcm(3,1)/cos(alpha));
else
beta = pi - asin(-dcm(3,1)/cos(alpha));
end
%
if dcm(2,2) >= 0
gamma = asin(-dcm(1,2)/cos(alpha));
else
gamma = pi - asin(-dcm(1,2)/cos(alpha));
end
end
% Result:
% 0.9192 0.1728 0.0601
The dcm for the sequence ZXY in terms of sin and cos is:
Thank you so much for your willingness.
matrices matlab education rotations classical-mechanics
asked Dec 22 '18 at 17:20
Gennaro ArguzziGennaro Arguzzi
336314
$endgroup$
add a comment |
0
$begingroup$
I have two Matlab codes to get the Cardan angles (ZXY sequence) starting from a given direction cosine matrix (dcm), but the results are different. Why?
The dcm is:
dcm = [0.5972 -0.7833 0.1729;
0.7990 0.5987 -0.0553;
-0.0592 0.1719 0.9832];
First code (alpha=angle around x, beta=angle around y, gamma=angle around z):
[gamma, alpha, beta] = dcm2angle(dcm,'ZXY');
% Result:
% -0.9277 -0.0553 -0.1741
Second code:
if abs(dcm(3,2)) ~= 1
alpha = asin(dcm(3,2));
%
if dcm(3,3) >= 0
beta = asin(-dcm(3,1)/cos(alpha));
else
beta = pi - asin(-dcm(3,1)/cos(alpha));
end
%
if dcm(2,2) >= 0
gamma = asin(-dcm(1,2)/cos(alpha));
else
gamma = pi - asin(-dcm(1,2)/cos(alpha));
end
end
% Result:
% 0.9192 0.1728 0.0601
The dcm for the sequence ZXY in terms of sin and cos is:
Thank you so much for your willingness.
matrices matlab education rotations classical-mechanics
asked Dec 22 '18 at 17:20
Gennaro ArguzziGennaro Arguzzi
336314
$endgroup$
$begingroup$
Just to check, apply also both methods on the transpose of thedcmmatrix.
$endgroup$
– LutzL
Dec 23 '18 at 8:44
$begingroup$
You can get the beta and gamma values with less lines usingbeta = atan2(-dcm(3,1), dcm(3,3)andgamma = atan2(-dcm(1,2), dcm(2,2)).
$endgroup$
– LutzL
Dec 23 '18 at 12:19
$begingroup$
Hello @LutzL, I have to use the above code because my professor said that I have to implement the analitic procedure in my book. Anyway thank you for your suggestion and sorry for the delay of my reply.
$endgroup$
– Gennaro Arguzzi
Dec 24 '18 at 23:55
add a comment |
0
0
0
$begingroup$
I have two Matlab codes to get the Cardan angles (ZXY sequence) starting from a given direction cosine matrix (dcm), but the results are different. Why?
The dcm is:
dcm = [0.5972 -0.7833 0.1729;
0.7990 0.5987 -0.0553;
-0.0592 0.1719 0.9832];
First code (alpha=angle around x, beta=angle around y, gamma=angle around z):
[gamma, alpha, beta] = dcm2angle(dcm,'ZXY');
% Result:
% -0.9277 -0.0553 -0.1741
Second code:
if abs(dcm(3,2)) ~= 1
alpha = asin(dcm(3,2));
%
if dcm(3,3) >= 0
beta = asin(-dcm(3,1)/cos(alpha));
else
beta = pi - asin(-dcm(3,1)/cos(alpha));
end
%
if dcm(2,2) >= 0
gamma = asin(-dcm(1,2)/cos(alpha));
else
gamma = pi - asin(-dcm(1,2)/cos(alpha));
end
end
% Result:
% 0.9192 0.1728 0.0601
The dcm for the sequence ZXY in terms of sin and cos is:
Thank you so much for your willingness.
matrices matlab education rotations classical-mechanics
asked Dec 22 '18 at 17:20
Gennaro ArguzziGennaro Arguzzi
336314
$endgroup$
I have two Matlab codes to get the Cardan angles (ZXY sequence) starting from a given direction cosine matrix (dcm), but the results are different. Why?
The dcm is:
dcm = [0.5972 -0.7833 0.1729;
0.7990 0.5987 -0.0553;
-0.0592 0.1719 0.9832];
First code (alpha=angle around x, beta=angle around y, gamma=angle around z):
[gamma, alpha, beta] = dcm2angle(dcm,'ZXY');
% Result:
% -0.9277 -0.0553 -0.1741
Second code:
if abs(dcm(3,2)) ~= 1
alpha = asin(dcm(3,2));
%
if dcm(3,3) >= 0
beta = asin(-dcm(3,1)/cos(alpha));
else
beta = pi - asin(-dcm(3,1)/cos(alpha));
end
%
if dcm(2,2) >= 0
gamma = asin(-dcm(1,2)/cos(alpha));
else
gamma = pi - asin(-dcm(1,2)/cos(alpha));
end
end
% Result:
% 0.9192 0.1728 0.0601
The dcm for the sequence ZXY in terms of sin and cos is:
Thank you so much for your willingness.
matrices matlab education rotations classical-mechanics
matrices matlab education rotations classical-mechanics
asked Dec 22 '18 at 17:20
Gennaro ArguzziGennaro Arguzzi
336314
asked Dec 22 '18 at 17:20
Gennaro ArguzziGennaro Arguzzi
336314
edited Dec 23 '18 at 8:05
Gennaro Arguzzi
asked Dec 22 '18 at 17:20
Gennaro ArguzziGennaro Arguzzi
336314
asked Dec 22 '18 at 17:20
Gennaro ArguzziGennaro Arguzzi
336314
asked Dec 22 '18 at 17:20
Gennaro ArguzziGennaro Arguzzi
336314
336314
$begingroup$
Just to check, apply also both methods on the transpose of thedcmmatrix.
$endgroup$
– LutzL
Dec 23 '18 at 8:44
$begingroup$
You can get the beta and gamma values with less lines usingbeta = atan2(-dcm(3,1), dcm(3,3)andgamma = atan2(-dcm(1,2), dcm(2,2)).
$endgroup$
– LutzL
Dec 23 '18 at 12:19
$begingroup$
Hello @LutzL, I have to use the above code because my professor said that I have to implement the analitic procedure in my book. Anyway thank you for your suggestion and sorry for the delay of my reply.
$endgroup$
– Gennaro Arguzzi
Dec 24 '18 at 23:55
add a comment |
$begingroup$
Just to check, apply also both methods on the transpose of thedcmmatrix.
$endgroup$
– LutzL
Dec 23 '18 at 8:44
$begingroup$
You can get the beta and gamma values with less lines usingbeta = atan2(-dcm(3,1), dcm(3,3)andgamma = atan2(-dcm(1,2), dcm(2,2)).
$endgroup$
– LutzL
Dec 23 '18 at 12:19
$begingroup$
Hello @LutzL, I have to use the above code because my professor said that I have to implement the analitic procedure in my book. Anyway thank you for your suggestion and sorry for the delay of my reply.
$endgroup$
– Gennaro Arguzzi
Dec 24 '18 at 23:55
$begingroup$
Just to check, apply also both methods on the transpose of the
dcm matrix.$endgroup$
– LutzL
Dec 23 '18 at 8:44
$begingroup$
Just to check, apply also both methods on the transpose of the
dcm matrix.$endgroup$
– LutzL
Dec 23 '18 at 8:44
$begingroup$
You can get the beta and gamma values with less lines using
beta = atan2(-dcm(3,1), dcm(3,3) and gamma = atan2(-dcm(1,2), dcm(2,2)).$endgroup$
– LutzL
Dec 23 '18 at 12:19
$begingroup$
You can get the beta and gamma values with less lines using
beta = atan2(-dcm(3,1), dcm(3,3) and gamma = atan2(-dcm(1,2), dcm(2,2)).$endgroup$
– LutzL
Dec 23 '18 at 12:19
$begingroup$
Hello @LutzL, I have to use the above code because my professor said that I have to implement the analitic procedure in my book. Anyway thank you for your suggestion and sorry for the delay of my reply.
$endgroup$
– Gennaro Arguzzi
Dec 24 '18 at 23:55
$begingroup$
Hello @LutzL, I have to use the above code because my professor said that I have to implement the analitic procedure in my book. Anyway thank you for your suggestion and sorry for the delay of my reply.
$endgroup$
– Gennaro Arguzzi
Dec 24 '18 at 23:55
add a comment |
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$begingroup$
Just to check, apply also both methods on the transpose of the
dcmmatrix.$endgroup$
– LutzL
Dec 23 '18 at 8:44
$begingroup$
You can get the beta and gamma values with less lines using
beta = atan2(-dcm(3,1), dcm(3,3)andgamma = atan2(-dcm(1,2), dcm(2,2)).$endgroup$
– LutzL
Dec 23 '18 at 12:19
$begingroup$
Hello @LutzL, I have to use the above code because my professor said that I have to implement the analitic procedure in my book. Anyway thank you for your suggestion and sorry for the delay of my reply.
$endgroup$
– Gennaro Arguzzi
Dec 24 '18 at 23:55