C = math.atan2(rotationM[1], rotationM[4]) else: A = 0.0 B = -self.PI_2 C = -math.atan2(rotationM[1], rotationM[4]) def __MatrixToeula(self, T): ''' Convert a transformation matrix to Euler angles (roll, pitch, yaw). T: 4x4 transformation matrix ''' Pos = [0.0] *...
euler_angles_small.png To transform from the reference axis system to the body axis system, three rotations need to be applied to the x, y, z coordinates. First you have to yaw about axis oz0 through the angle Ψ, this will take you from the (ox0y0z0) axis system to the (ox1y1...
They have the ability to uniquely describe any three-dimensional rotation about an arbitrary axis and do not suffer from gimbal lock. If you have an application where a sensor or object is capable of movement anywhere in 3D space, they are superior to Euler angles for tracking objects....