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From: https://en.smath.info/forum/yaf_postsm54527_AlgLib-3-1x.aspx#post54527Hi Ber7. Thanks for the angles, which gives this beatifull view point! Originally Posted by: Ber7  Your error may be caused by the use of the left coordinate system in Smath- graphs.
Using SMath convention for axis it's very difficult to me, and also add the fact that in Latin America we use this as Euler angles: https://es.wikipedia.org...ki/%C3%81ngulos_de_Euler  In the attached, I can invert emulating the matlab robots toolbox's rotm2eul.m function, but notice that I need to swap the product order to get the same matrix with those angles that I obtain first.  So, I don't sure now if we are doing the rotations ok taking Ω1*Ω2*Ω3 or, for SMath, the correct order is Ω3*Ω2*Ω1, and this swap is the math meaning for "left coordinate system".  rotm2eul.sm (84kb) downloaded 35 time(s).Best regards. Alvaro.
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 3 users thanked Razonar for this useful post.
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on 10/10/2018(UTC), on 10/10/2018(UTC), on 10/10/2018(UTC)
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Joined: 04/07/2015(UTC) Posts: 6,866  Was thanked: 981 time(s) in 809 post(s)
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Originally Posted by: Razonar So, I'm not sure now if we are doing the rotations ok taking Ω1*Ω2*Ω3 or, for SMath, the correct order is Ω3*Ω2*Ω1, and this swap is the math meaning for "left coordinate system". Euler traditional [Roll, Pitch, Yaw] is not commutative once angles are defined. Some 3D solids will show convenient in any of the possible 3! = 6 commutative. Cheers ... Jean Rotate Euler NOT Commutative.sm (17kb) downloaded 37 time(s).
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2 users thanked Jean Giraud for this useful post.
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on 10/10/2018(UTC), on 10/10/2018(UTC)
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