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# tr2eul

Convert homogeneous transform to Euler angles

eul = tr2eul(T, options) are the ZYZ Euler angles expressed as a row vector corresponding to the rotational part of a homogeneous transform T. The 3 angles eul=[PHI,THETA,PSI] correspond to sequential rotations about the Z, Y and Z axes respectively.

eul = tr2eul(R, options) are the ZYZ Euler angles expressed as a row vector corresponding to the orthonormal rotation matrix R.

If R or T represents a trajectory (has 3 dimensions), then each row of eul corresponds to a step of the trajectory.

## Options

'deg' | Compute angles in degrees (radians default)
'flip' | Choose first Euler angle to be in quadrant 2 or 3.

## Notes

- There is a singularity for the case where THETA=0 in which case PHI is arbitrarily set to zero and PSI is the sum (PHI+PSI).

## See also

eul2tr, tr2rpy

© 1990-2014 Peter Corke.