theta
Description
Examples
Convert SE(2) Transformation to Angle
Create SE(2) transformation with a rotation defined by an angle pi/2
.
angle1 = pi/2
angle1 = 1.5708
T = se2(angle1,"theta")
T = se2
0.0000 -1.0000 0
1.0000 0.0000 0
0 0 1.0000
Get the rotation angle from the transformation.
angle2 = theta(T)
angle2 = 1.5708
Convert SO(2) Transformation to Angle
Create SO(2) rotation defined by an angle pi/2
.
angle1 = pi/2
angle1 = 1.5708
R = so2(angle1,"theta")
R = so2
0.0000 -1.0000
1.0000 0.0000
Get the rotation angle from the rotation.
angle2 = theta(R)
angle2 = 1.5708
Input Arguments
transformation
— Transformation
se2
object | N-by-M array of se2
objects
rotation
— Rotation
so2
object | N-by-M array of so2
objects
Output Arguments
angle
— Rotation angle
numeric scalar | N-by-M matrix
Rotation angle, returned as a numeric scalar for a scalar input and as an
N-by-M matrix for an array input.
N and M are the dimensions of the input
rotation
or transformation
argument. Each
element of the matrix is an angle, in radians, and each angle corresponds to a rotation
or transformation in the input at the same index location.
The rotation angle is counterclockwise positive when you look along the axis toward the origin.
Data Types: single
| double
Version History
Introduced in R2023b
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