rotation matrix with Euler angles(peter corke 'robotics tool box')

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SUNGWOON YOON
SUNGWOON YOON 2020-3-26
评论： Ameer Hamza 2020-3-30
I have some question about different answer from me to professor (I'm student and i just follow professor's source)
My answer is
eul2r(10, 0, 30)
ans=-0.6669 -0.7451 0
0.7451 -0.6669 0
0 0 1.
My professor is
eul2r(10, 0, 30)
ans=0 -0.3420 0.9397
0 0.9397 0.3420
-1 0 0
what's wrong of me... pleae let me know
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SUNGWOON YOON
SUNGWOON YOON 2020-3-27
Oh... I think I'm out of my mind...
I capture another page... sorry
here is result with same condition.

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Ameer Hamza
Ameer Hamza 2020-3-27
编辑：Ameer Hamza 2020-3-27
You code is correct. You can also verify your own answer using MATLAB's builtin function. Note that these functions take input in radians.
x1 = eul2r(10, 20, 30);
x2 = eul2rotm([10,20,30], 'ZYZ');
Result:
>> x1
x1 =
-0.5903 -0.2544 -0.7660
0.7948 -0.3488 -0.4967
-0.1408 -0.9020 0.4081
>> x2
x2 =
-0.5903 -0.2544 -0.7660
0.7948 -0.3488 -0.4967
-0.1408 -0.9020 0.4081
You professor is getting that answer, either because he is using an older version of the toolbox which takes input in degrees or he has modified the function definition itself by commenting out the following condition
% optionally convert from degrees
% if opt.deg % <---- maybe the professor commented this condition
d2r = pi/180.0;
phi = phi * d2r;
theta = theta * d2r;
psi = psi * d2r;
% end
You will get his answer if you convert the input from degress to radians
eul2r(deg2rad(10), deg2rad(20), deg2rad(30))
ans =
0.7146 -0.6131 0.3368
0.6337 0.7713 0.0594
-0.2962 0.1710 0.9397

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