Implemented Euler angles a separate crate #1500
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tdamsma
reviewed
Mar 30, 2025
tdamsma
reviewed
Mar 30, 2025
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| pub fn rotation_matrix_to_euler(rotation_matrix: &Vec<Vec<f64>>, order: &[char; 3]) -> Result<Vec<f64>, String> { | ||
| // Validate the order | ||
| for chr in order { | ||
| if !matches!(*chr, 'X' | 'Y' | 'Z') { | ||
| let err_msg = format!("Invalid order character '{}'. Expected X/Y/Z", chr); | ||
| return Err(err_msg); | ||
| } | ||
| } | ||
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| let beta = -rotation_matrix[2][0].asin(); // Y-axis rotation (beta) | ||
| let alpha = (rotation_matrix[2][1] / beta.cos()).atan2(rotation_matrix[2][2] / beta.cos()); // X-axis rotation (alpha) | ||
| let gamma = (rotation_matrix[1][0] / beta.cos()).atan2(rotation_matrix[0][0] / beta.cos()); // Z-axis rotation (gamma) | ||
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| // Create a map to associate axes with their corresponding Euler angle functions | ||
| let mut euler_map: HashMap<char, f64> = HashMap::new(); | ||
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| euler_map.insert('X', alpha); | ||
| euler_map.insert('Y', beta); | ||
| euler_map.insert('Z', gamma); | ||
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| let mut euler_angles = Vec::new(); | ||
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| for &axis in order { | ||
| match euler_map.get(&axis) { | ||
| Some(&angle) => euler_angles.push(angle), | ||
| None => return Err(format!("Unexpected axis '{}'", axis)), | ||
| } | ||
| } | ||
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| Ok(euler_angles) | ||
| } |
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Is the using the extrinsic or extrinsic definition? And how to discern between those?
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Solved issue: #1446.
I implemented the algorithm behind calculus of Euler Angles as a nalgebra crate.
I also provided a brief README of how to use these simple, yet powerful functions.