Function quat2angle does not account for singularities

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Wouter Bouma el 11 de Mzo. de 2019

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https://es.mathworks.com/matlabcentral/answers/449440-function-quat2angle-does-not-account-for-singularities

Editada: Wouter Bouma el 11 de Mzo. de 2019

It seems that the function quat2angle does not account for the singularity that occurs when the second Euler angle is +/- 90 deg (for a ZYX rotation sequence). Example code:

u = deg2rad([90 -90 15]);
q = angle2quat(u(1),u(2),u(3));
[u1 u2 u3] = quat2angle(q);
u_new = rad2deg([u1 u2 u3])
u_new =
  104.0362  -90.0000   18.4349

Is there a fix for this?