The following Matlab project contains the source code and Matlab examples used for compose decompose 3x3 rotation matrix (comp decomp matrix).
COMP_DECOMP_MATRIX: compose 3x3 rotation matrix from euler angles (in degrees) or decompose 3x3 rotation matrix to euler angles (in degrees)
Input: 1x3 vector of euler rotations around x rotations(1), y
rotations(2), and z, rotations(3) or 3x3 rotation matrix
Output: 3x3 matrix representing rotations around x, y, and z axis
or 1x3 vector of euler angles in degrees
NOTE: Euler angles returned when doing a decomposition will be in the following ranges (in radians):
% theta_x --> (-pi, pi)
% theta_y --> (-pi/2, pi/2)
% theta_z --> (-pi, pi)
Angles within these ranges will be the same after decomposition: angles outside these ranges will produce the correct rotation matrix, but the decomposed values will be different to the input angles.

The source code and files included in this project are listed in the project files section, please make sure whether the listed source code meet your needs there.

## Project Files:

File Name | Size |
---|---|

comp_decomp_matrix.m | 1868 |

license.txt | 1306 |