eulerangle_from_rotmat¶
- pycraf.geometry.eulerangle_from_rotmat(R, etype='xyz')[source] [edit on github]¶
Cartesian rotation axis and angle from rotation matrix.
- Parameters
- R
array
Rotation matrix [no units!]
- etypestr, 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.