欧拉角转旋转矩阵matlab代码

在MATLAB中，欧拉角（通常指Roll-Pitch-Yaw三轴旋转）转换为旋转矩阵是一个常见的任务。下面是一个简单的示例代码，它将欧拉角输入（假设为 XYZ 方式，即先绕X轴，然后Y轴，最后Z轴）转换为旋转矩阵：

function rot_mat = euler_to_rot_matrix(euler_angles)
    % Unpack the Euler angles (in radians) as [roll, pitch, yaw]
    roll = euler_angles(1);
    pitch = euler_angles(2);
    yaw = euler_angles(3);

    % Convert to ZYX order (since MATLAB uses column-major matrices)
    % and adjust for the different rotation sequence
    Cz = cos(yaw);
    Sz = sin(yaw);
    Cy = cos(pitch);
    Sy = sin(pitch);
    Rx = cos(roll);
    Sx = sin(roll);

    % Construct the rotation matrix
    rot_mat = [
        Rx * Cy * Cz - Sx * Sy * Sz,
        Rx * Sy * Cz + Sx * Cy * Sz,
        -Rx * Sz + Sx * Cy * Cz,

        -Sx * Cy,
        Rx * Cy,
        Sy,

        Sz * Sx * Cy + Cz * Rx,
        -Sz * Sx * Sy + Cz * Rx * Cy,
        Cz * Sz
    ];
end

你可以通过传入一个包含三个元素的向量来调用这个函数，比如`rot_mat = euler_to_rot_matrix([0.7, 0.5, 1.2])`。