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(1)
> R_e3_phi:=Matrix(cos(phi)*IdentityMatrix(3)+(1-cos(phi))*
MatrixMatrixMultiply(E3,Transpose(E3))+sin(phi)*SE3);
(2)
(3)
> R_e2_theta:=Matrix(cos(theta)*IdentityMatrix(3)+(1-cos(theta))*
MatrixMatrixMultiply(E2,Transpose(E2))+sin(theta)*SE2);
(4)
(5)
> R_e1_psi:=Matrix(cos(psi)*IdentityMatrix(3)+(1-cos(psi))*
(6)
>
MatrixMatrixMultiply(E1,Transpose(E1))+sin(psi)*SE1);
(6)
> R_final:=MatrixMatrixMultiply(R_e3_phi,MatrixMatrixMultiply
(R_e2_theta,R_e1_psi)); # Rotation matrix with 3-2-1 Euler angles
(7)