function

LieGroups.SO3.Euler.to_Matrix

Euler angles to DCM for any valid axis sequence

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`angles`	`Real`	`[3]`
input	`sequence`	`LieGroups.SO3.Euler.Axis`	`[3]`
input	`bodyFixed`	`Boolean`	`= true`	True for intrinsic/body-fixed; false for extrinsic/space-fixed
output	`R`	`Real`	`[3, 3]`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function to_Matrix "Euler angles to DCM for any valid axis sequence"
  input Real angles[3];
  input LieGroups.SO3.Euler.Axis sequence[3];
  input Boolean bodyFixed = true
    "True for intrinsic/body-fixed; false for extrinsic/space-fixed";
  output Real R[3, 3];
protected
  Real elemental[3, 3];
algorithm
  assert(LieGroups.SO3.Euler.validSequence(sequence),
    "Euler sequence cannot repeat adjacent axes");
  R := identity(3);
  for i in 1:3 loop
    elemental := LieGroups.SO3.Euler.rotationMatrix(sequence[i], angles[i]);
    R := if bodyFixed then R * elemental else elemental * R;
  end for;
end to_Matrix;