R=angle2dcm(r1,r2,r3,S)
S 为转动次序,默认为'ZYX'
[r1,r2,r3] = dcm2angle(R,S) // ri 为弧度
[r1,r2,r3] = quat2angle([q0 q1 q2 q3], S)
R = angle2dcm(yaw*180/pi,pitch*180/pi,roll*180/pi)
[yaw,pitch,roll] = quat2angle([q0 q1 q2 q3])
R=angle2dcm(r1,r2,r3,S)
S 为转动次序,默认为'ZYX'
[r1,r2,r3] = dcm2angle(R,S) // ri 为弧度
[r1,r2,r3] = quat2angle([q0 q1 q2 q3], S)
R = angle2dcm(yaw*180/pi,pitch*180/pi,roll*180/pi)
[yaw,pitch,roll] = quat2angle([q0 q1 q2 q3])