How does LabVIEW calculate Euler Angles from Direction Cosine Matrix?

I'm looking to clean up my block diagram by converting LabVIEW math functions to Mathscript; however, I can't find out exactly which rotation convention is being used to calculate Euler angles from the Direction Cosine Matrix. Any ideas?
Here's what I'm using now (see below)... the phi angle is the only one (of three angles) not correcting like the LabVIEW math functions. I've also attached the .vi that demonstrates the calculation both ways.
%calculate Euler angles from DCM
%'DCM' is a 3x3 direction cosine matrix
phi = atan((DCM(2,3))/(DCM(3,3)));
theta = acos(DCM(3,3));
psi = atan2(DCM(1,3),DCM(2,3));
Solved!
Go to Solution.
Attachments:
Apply Direction Cosines 2 ways.vi ‏36 KB

BenMedeiros,
Here is our documentation on that Driection Cosine Matrix: http://zone.ni.com/reference/en-XX/help/371361D-01/gmath/euler_angles_to_direction_cosines/
it includes the formula as well.
If you decide to use the 3D cartesian Rotation VI you can find that info here: http://zone.ni.com/reference/en-XX/help/371361G-01/gmath/3d_cartesian_coord_rotation_direction/
I hope this helps
Sam S
Applications Engineer
National Instruments

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