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# eul2jac

Euler angle rate Jacobian

J = eul2jac(eul) is a Jacobian matrix (3x3) that maps Euler angle rates to angular velocity at the operating point eul=[PHI, THETA, PSI].

J = eul2jac(phi, theta, psi) as above but the Euler angles are passed as separate arguments.

## Notes

- Used in the creation of an analytical Jacobian.

## See also

rpy2jac, SerialLink.JACOBN

© 1990-2014 Peter Corke.