rotation matrix with Euler angles(peter corke 'robotics tool box')

I have some question about different answer from me to professor (I'm student and i just follow professor's source)

My answer is

eul2r(10, 0, 30)

ans=-0.6669 -0.7451 0

0.7451 -0.6669 0

0 0 1.

My professor is

eul2r(10, 0, 30)

ans=0 -0.3420 0.9397

0 0.9397 0.3420

-1 0 0

what's wrong of me... pleae let me know

[James Tursa]

You need to give us the details about the assignment and show us your code. As it is we have no way of knowing what the problem might be.

[SUNGWOON YOON]

sorry about that..

I learn about euler angle to use peter corke robot toolbox.

the code is just R=eul2r(10,0,30)

there was no other codes.

but the answer is different for professors and mine.

I thinks my answer is wrong because I solve it with my hand, but it is wrong.

left is prof's answer and right is mine

[Ameer Hamza]

As far as I can see, your code and the professor's code are not same

[SUNGWOON YOON]

Oh... I think I'm out of my mind...

I capture another page... sorry

here is result with same condition.

Answer 1

[Ameer Hamza]

You code is correct. You can also verify your own answer using MATLAB's builtin function. Note that these functions take input in radians.

x1 = eul2r(10, 20, 30);
x2 = eul2rotm([10,20,30], 'ZYZ');

Result:

>> x1
x1 =
   -0.5903   -0.2544   -0.7660
    0.7948   -0.3488   -0.4967
   -0.1408   -0.9020    0.4081

>> x2
x2 =
   -0.5903   -0.2544   -0.7660
    0.7948   -0.3488   -0.4967
   -0.1408   -0.9020    0.4081

You professor is getting that answer, either because he is using an older version of the toolbox which takes input in degrees or he has modified the function definition itself by commenting out the following condition

   % optionally convert from degrees
%     if opt.deg    % <---- maybe the professor commented this condition
        d2r = pi/180.0;
        phi = phi * d2r;
        theta = theta * d2r;
        psi = psi * d2r;
%     end

You will get his answer if you convert the input from degress to radians

eul2r(deg2rad(10), deg2rad(20), deg2rad(30))
ans =
    0.7146   -0.6131    0.3368
    0.6337    0.7713    0.0594
   -0.2962    0.1710    0.9397

[SUNGWOON YOON]

Oh.. thank you so much

[Ameer Hamza]

Glad to be of help.