Langunage type

SubRoutine

FORTRAN

call eulerangle(EAtype, A, EA, Errflg)

C/C++

Eulerangle(EAtype, A, EA, &Errflg)

Variable Name

Size

Description

EAtype

int

Euler angle type. EAtype should be “313”, “321” or “123” value.

•    “313”: Euler angle ZXZ (Psi, Theta, Phi).

•    “321”: Euler angle ZYX (Yaw-Pitch-Roll).

•    “123”: Euler angle XYZ (Theta_x, Theta_y, Theta_z)

A

double[9]

An array of double precision type. The array size must be 9. This is input variables as an orientation matrix.

EA

double[3]

An array of double type. The array size must be 3. This is output variables as an Euler angle. EA[0] is a 1^st rotate angle of each Euler angle. EA[1] is a 2^nd rotate angle. EA[2] is a 3^rd rotate angle.

errflg

int

Error flag.

If the result of this argument is -1 (means TRUE in Fortran logical value), there is no error.

The others mean that there is an error.