Originally posted by llj1986 at 2011-05-24 09:42:06:
已知欧拉角和密勒指数之间可以通过g矩阵相互转化，如：
g=[cos(phi1)*cos(phi2)-sin(phi1)*sin(phi2)*cos(phi),
sin(phi1)*cos(phi2)+cos(phi1)*sin(phi2)*cos(phi),sin(phi2)*sin(phi);
-cos(phi1)*sin(phi2) ...