How to calculate Rotation Matrix?

How to calculate euler angle?

• Assume that the global coordinate system is defined by [i j k] vectors as: [1 0 0 0 1 0 0 0 1] There is a local coordinate system. For simplicity, lets take it as a coordinate system rotated about Z axis by 90degree: [ 0 1 0 -1 0 0 0 0 1] I have a point defined in the global coordinate system, lets say [1, 1, 0]. I want to apply a rotation matrix using euler angles and transform it to the local coordinate system. Can anybody suggest how to calculate the euler angles for rotation to be performed. Even quaternions are welcome. I just wanted to find the angles for the rotations. All the literature i have found till now explains how to rotate after the euler andles are given. There is no clear explanation for calculating the euler angles. Any help on this matter will be appreciated.

• Answer:

  The angle for your rotation is 90 degrees as you specified. Not sure what you are missing. The Euler angles are just angles as in a right triangle along the axis. Say you were rotating about b to a point x = 2, y= 1, then your triangle has sides a = 2 b = 1 and use the Pythagorean or trig to get the angle.