Create a rotation matrix given some euler angles - Android java.lang

Android examples for java.lang:Math Matrix

  1. HOME
  2. Android
  3. java.lang
  4. Math Matrix

Description

Create a rotation matrix given some euler angles

Demo Code


//package com.java2s;

public class Main {
    /**/*  ww  w.j av  a 2s. co m*/
     * Create a rotation matrix given some euler angles
     * this is based on http://gentlenav.googlecode.com/files/EulerAngles.pdf
     */
    public static double[][] dcmFromEuler(double roll, double pitch,
            double yaw) {
        double dcm[][] = new double[3][3];

        double cp = Math.cos(pitch);
        double sp = Math.sin(pitch);
        double sr = Math.sin(roll);
        double cr = Math.cos(roll);
        double sy = Math.sin(yaw);
        double cy = Math.cos(yaw);

        dcm[0][0] = cp * cy;
        dcm[1][0] = (sr * sp * cy) - (cr * sy);
        dcm[2][0] = (cr * sp * cy) + (sr * sy);
        dcm[0][1] = cp * sy;
        dcm[1][1] = (sr * sp * sy) + (cr * cy);
        dcm[2][1] = (cr * sp * sy) - (sr * cy);
        dcm[0][2] = -sp;
        dcm[1][2] = sr * cp;
        dcm[2][2] = cr * cp;

        return dcm;
    }
}

Related Tutorials