Function quat2angle does not account for singularities

2019 3 11
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更新时间：2019 3 11
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It seems that the function quat2angle does not account for the singularity that occurs when the second Euler angle is +/- 90 deg (for a ZYX rotation sequence). Example code:
u = deg2rad([90 -90 15]);
q = angle2quat(u(1),u(2),u(3));
[u1 u2 u3] = quat2angle(q);
u_new = rad2deg([u1 u2 u3])
u_new =
104.0362 -90.0000 18.4349
Is there a fix for this?

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