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free online bettingTue, 31 Jan 2017 17:01:19 -0800

Hello,

I'm trying to compose Euler rotation matrices shown in
https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix.  For
example, The Z1Y2X3 Tait-Bryan rotation shown in the table can be
represented in Numpy using the function:

def z1y2x3(alpha, beta, gamma):
    """Rotation matrix given Euler angles"""
    return np.array([[np.cos(alpha) * np.cos(beta),
                      np.cos(alpha) * np.sin(beta) * np.sin(gamma) -
                      np.cos(gamma) * np.sin(alpha),
                      np.sin(alpha) * np.sin(gamma) +
                      np.cos(alpha) * np.cos(gamma) * np.sin(beta)],
                     [np.cos(beta) * np.sin(alpha),
                      np.cos(alpha) * np.cos(gamma) +
                      np.sin(alpha) * np.sin(beta) * np.sin(gamma),
                      np.cos(gamma) * np.sin(alpha) * np.sin(beta) -
                      np.cos(alpha) * np.sin(gamma)],
                     [-np.sin(beta), np.cos(beta) * np.sin(gamma),
                      np.cos(beta) * np.cos(gamma)]])

which given alpha, beta, gamma as:

angles = np.radians(np.array([30, 20, 10]))

returns the following matrix:

In [31]: z1y2x3(angles[0], angles[1], angles[2])
Out[31]: 

array([[ 0.81379768, -0.44096961,  0.37852231],
       [ 0.46984631,  0.88256412,  0.01802831],
       [-0.34202014,  0.16317591,  0.92541658]])

If I understand correctly, one should be able to compose this matrix by
multiplying the rotation matrices that it is made of.  However, I cannot
reproduce this matrix via composition; i.e. by multiplying the
underlying rotation matrices.  Any tips would be appreciated.

-- 
Seb

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