如何获取符号系统的数值

Question

如何计算roll、pitch、yaw？我们需要找到符号变量roll、pitch、yaw的数值。

syms roll pitch yaw
C1i=[cos(yaw) sin(yaw) 0;
-sin(yaw) cos(yaw) 0;
0 0 1];
C21=[cos(pitch) 0 -sin(pitch);
0        1    0;
sin(pitch) 0 cos(pitch)];
Cb2=[1   0     0;
0   cos(roll) sin(roll);
0   -sin(roll) cos(roll)];
Cequivalent = Cb2*C21*C1i
R = [ 0.8748 -0.4636 0.1410; 0.4779 0.8735 -0.0933; -0.0799 0.1490 0.9856];
R == Cequivalent

Answer 1

您只需求解变量的方程组：

res = solve( vpa(R) == Cequivalent, roll, pitch, yaw);

然而，没有解决方案，所以我想你在某个地方犯了错误。

结果将采用可变精度算术(VPA(，并可转换为双精度：

res = double(res);