dcm

R2026b

Orientation of pose object as direction cosine matrix

Since R2026b

Syntax

dc = dcm(p)

dc = dcm(p,Name=Value)

Description

Add-On Required: This feature requires the 3D Scenarios add-on.

dc = dcm(p) calculates the orientation of the pose as a direction cosine matrix (DCM). By default, the orientation sequence is the mapping from the intrinsic frame to the pose object.

dc = dcm(p,Name=Value) calculates the direction cosine matrix using options specified by one or more name-value arguments.

Input Arguments

p — Pose

array of pose objects

Pose, specified as an array of pose objects.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: dcm(p,ObjectOrientationBasis="flu") specifies the basis vectors as forward-left-up.

RotationType — Frame rotation type

"frame" (default) | "point"

Frame rotation type, specified as one of these values:

• "frame" — Define the orientation sequence as the mapping from the intrinsic frame to the pose object.

• "point" — Define the orientation sequence as the mapping from the pose object to the intrinsic frame.

ObjectOrientationBasis — Basis vectors for DCM

"auto" (default) | "flu" | "frd"

Basis vectors for the DCM, specified as "auto", "flu", or "frd". This value specifies whether the basis for the DCM uses a forward-left-up (FLU) or forward-right-down (FRD) convention.

The default, "auto", selects a convention based on the AxesConvention property of the reference frame for the pose object. When the ReferenceFrame property is empty, the default convention is FLU.

Axes Convention	Corresponding Basis
"ned"	"frd"
"enu"	"flu"
"flu"	"flu"
"frd"	"frd"
"xyz"	"flu"

Output Arguments

dc — Direction cosine matrix

3-by-3-by-m array

Direction cosine matrix, returned as a 3-by-3-by-m array, where m is the number of elements in p.

Version History

Introduced in R2026b