eulerangle_from_rotmat#
- pycraf.geometry.eulerangle_from_rotmat(R, etype='xyz')[source]#
Cartesian rotation axis and angle from rotation matrix.
- Parameters:
- R
array Rotation matrix [no units!]
- etype
str, optional, ‘xyz’ or ‘zxz’ Desired Euler-angle ordering. (default: ‘xyz’)
The ordering ‘xyz’ refers to the case where first a rotation about the x-axis is performed, then about y and last about z-axis, i.e., R = Rz(alpha3).Ry(alpha2).Rx(alpha1). Likewise for ordering ‘zxz’ it is R = Rz(alpha3).Rx(alpha2).Rz(alpha1)
- R
- Returns:
- angle_{1, 2, 3}
Quantity Euler rotation angles [deg]
- angle_{1, 2, 3}
Notes
Broadcasting is supported. Note the returned Euler angles are not unique.