2. Compute the equivalent Euler angles. WARNING: It is forbiden to use the Matlab library function eul2rotm here. Pay attention to the unit: degree, as well as in trigonometric functions. a. Given R1, compute the successive w-u-w angles: angle w, angle u, angle_w1. R1 = [0.0629 0.9101 0.4096 -0.9559 -0.0629 0.2868; 0.2868 -0.4096; 0.8660]; angle_u = 0 angle w = 0 angle_w1 = 0 b. If the same R1 is realized by the rotations around body frame axes, as follows: First rotates around w by aw, then around v by av, and finally around u by au. Compute the three successive angles aw, av, and au, respectively. av = 0 au = 0 aw = 0 c. The body frame firstly coincides with the fixed frame, then it has the following successive rotations all about the body frame axis: Rotation about w by angle. W, rotation about u by angle u, rotation about w again by angle_w1, rotation about w by aw, rotation about v by av, and finally rotation about u by au. Compute the final rotation matrix R2. R2 = zeros(3,3) d. If the above R2 is only realized by three successive rotations by roll, pitch and yaw aroud the fixed frame axes x, y and z, compute the roll, pitch and yaw. pitch = 0 roll = 0 yaw = Ө

Elements Of Electromagnetics
7th Edition
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Author:Sadiku, Matthew N. O.
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2. Compute the equivalent Euler angles. WARNING: It is forbiden to use the Matlab library
function eul2rotm here.
Pay attention to the unit: degree, as well as in trigonometric functions.
a. Given R1, compute the successive w-u-w angles: angle w, angle u, angle_w1.
R1 = [0.0629
0.9101
0.4096
-0.9559
-0.0629
0.2868;
0.2868
-0.4096;
0.8660];
angle_u = 0
angle w = 0
angle_w1 = 0
b. If the same R1 is realized by the rotations around body frame axes, as follows:
First rotates around w by aw, then around v by av, and finally around u by au.
Compute the three successive angles aw, av, and au, respectively.
av = 0
au = 0
aw = 0
Transcribed Image Text:2. Compute the equivalent Euler angles. WARNING: It is forbiden to use the Matlab library function eul2rotm here. Pay attention to the unit: degree, as well as in trigonometric functions. a. Given R1, compute the successive w-u-w angles: angle w, angle u, angle_w1. R1 = [0.0629 0.9101 0.4096 -0.9559 -0.0629 0.2868; 0.2868 -0.4096; 0.8660]; angle_u = 0 angle w = 0 angle_w1 = 0 b. If the same R1 is realized by the rotations around body frame axes, as follows: First rotates around w by aw, then around v by av, and finally around u by au. Compute the three successive angles aw, av, and au, respectively. av = 0 au = 0 aw = 0
c. The body frame firstly coincides with the fixed frame, then it has the following successive rotations
all about the body frame axis:
Rotation about w by angle. W, rotation about u by angle u, rotation about w again by angle_w1,
rotation about w by aw, rotation about v by av, and finally rotation about u by au. Compute the final
rotation matrix R2.
R2 = zeros(3,3)
d. If the above R2 is only realized by three successive rotations by roll, pitch and yaw aroud the fixed
frame axes x, y and z, compute the roll, pitch and yaw.
pitch = 0
roll = 0
yaw = Ө
Transcribed Image Text:c. The body frame firstly coincides with the fixed frame, then it has the following successive rotations all about the body frame axis: Rotation about w by angle. W, rotation about u by angle u, rotation about w again by angle_w1, rotation about w by aw, rotation about v by av, and finally rotation about u by au. Compute the final rotation matrix R2. R2 = zeros(3,3) d. If the above R2 is only realized by three successive rotations by roll, pitch and yaw aroud the fixed frame axes x, y and z, compute the roll, pitch and yaw. pitch = 0 roll = 0 yaw = Ө
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