12 lines
354 B
Matlab
12 lines
354 B
Matlab
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function euler = rotMat2euler(R)
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% from paper: "Adaptive Filter for a Miniature MEMS Based Attitude and
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% Heading Reference System" by Wang et al, IEEE.
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phi = atan2(R(3,2,:), R(3,3,:) );
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theta = -atan(R(3,1,:) ./ sqrt(1-R(3,1,:).^2) );
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psi = atan2(R(2,1,:), R(1,1,:) );
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euler = [phi(1,:)' theta(1,:)' psi(1,:)'];
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end
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