XXInteger GeneralRotationMatrixFromEul(XXInteger order, XXDouble *inarr, XXDouble *outarr)
{
/* inarr is the angles
outarr is the MyHMatrix */
MyHMatrix hM;
EulerAngles eul;
eul.x = inarr[0];
eul.y = inarr[1];
eul.z = inarr[2];
eul.order = order;
Eul_ToHMatrix(&eul, &hM);
/* and fill the result in the matrix */
FillRotationMatrixArrayFromHMatrix(outarr, &hM);
/* 0 is success */
return 0;
}
void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray*prhs[])
{
HMatrix R;
EulerAngles sa, ra;
const double *p_inangles;
mxArray *outangles;
const mwSize dims[]={3,1};
/*get angles*/
p_inangles=mxGetData(prhs[0]);
sa.x=(float)p_inangles[0];
sa.y=(float)p_inangles[1];
sa.z=(float)p_inangles[2];
/*convert angles from degrees to radians*/
TORAD(sa.x);
TORAD(sa.y);
TORAD(sa.z);
sa.w = EulOrdZYZr;
Eul_ToHMatrix(sa, R);
ra = Eul_FromHMatrix(R, EulOrdZXZr);
/*convert angles from radians to degrees*/
TODEG(ra.x);
TODEG(ra.y);
TODEG(ra.z);
if ((plhs[0] = mxCreateNumericArray(2,dims,mxSINGLE_CLASS,mxREAL))==NULL) { mexErrMsgTxt("Memory allocation problem in tom_eulerconvert.\n"); }
outangles = mxGetData(plhs[0]);
((float*)outangles)[0] = ra.x;
((float*)outangles)[1] = ra.y;
((float*)outangles)[2] = ra.z;
/*printf("rotating angles = %10.3f %10.3f %10.3f\n", ra.x, ra.y, ra.z);*/
}