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{"sheet":"オイラー角","index":0,"n_rows":179,"n_cols":23,"rows_kept":179,"cut":false,"hidden":false,"merged":[[148,1,148,4],[148,5,148,7],[148,8,148,16],[148,17,148,19],[149,17,149,19],[164,1,164,4],[164,5,164,7],[164,8,164,11],[164,12,164,14],[164,15,164,17],[166,8,166,11],[165,12,165,14],[165,15,165,17],[165,8,165,11],[148,20,148,22],[149,20,149,22],[149,8,149,16],[150,8,150,16]]}
["四元数からオイラー角への変換は、四元数を方向余弦マトリクスに変換した後、方向余弦マトリクスをオイラー角へ変換します。"]
["以下に、四元数から方向余弦マトリクスへ変換する関数、方向余弦マトリクスからオイラー角へ変換する関数を示します。"]
[null,"[例]"]
[null,"第2軸（y)まわりにθ1、第3軸(z)まわりにθ2、第1軸(x)まわりにθ3 回転してできた方向余弦マトリクスからオイラー角を求めた場合。"]
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[null,"Function QtnDcm(a As Quaternion) As Matrix3x3"]
[]
[null,"四元数から方向余弦マトリクスへ変換"]
[]
[null," a      ：入力、四元数"]
[null,"' Qtndcm ：出力、方向余弦マトリクス"]
[]
[null,"    QtnDcm.x.x = a.c ^ 2 + a.s.x ^ 2 - a.s.y ^ 2 - a.s.z ^ 2"]
[null,"    QtnDcm.x.y = 2# * (a.s.x * a.s.y + a.c * a.s.z)"]
[null,"    QtnDcm.x.z = 2# * (a.s.x * a.s.z - a.c * a.s.y)"]
[null,"    "]
[null,"    QtnDcm.y.x = 2# * (a.s.x * a.s.y - a.c * a.s.z)"]
[null,"    QtnDcm.y.y = a.c ^ 2 - a.s.x ^ 2 + a.s.y ^ 2 - a.s.z ^ 2"]
[null,"    QtnDcm.y.z = 2# * (a.s.y * a.s.z + a.c * a.s.x)"]
[null,"    "]
[null,"    QtnDcm.z.x = 2# * (a.s.x * a.s.z + a.c * a.s.y)",{"$f":"DEGREES(ATAN2((1-C$33)*COS(RADIANS(C39)),SIN(RADIANS(C39))))","v":0}]
[null,"    QtnDcm.z.y = 2# * (a.s.y * a.s.z - a.c * a.s.x)"]
[null,"    QtnDcm.z.z = a.c ^ 2 - a.s.x ^ 2 - a.s.y ^ 2 + a.s.z ^ 2"]
[]
[null,"End Function"]
[]
[]
[null,"Function RtnAng(a As Matrix3x3, ix As Integer) As Vector3D"]
[]
[null,"'回転角（オイラー角）"]
[]
[null,"' a      ：入力、方向余弦マトリクス"]
[null,"' ix     ：入力、回転順序"]
[null," RtnAng ：出力、[θi]i･[θj]j･[θk]k＝aとなる回転角（オイラー角）（deg）"]
[]
[null,"    Select Case ix"]
[null,"    Case 1, 123"]
[null,"        RtnAng.x = Artand(-a.z.y, a.z.z)"]
[null,"        RtnAng.y = Arsind(a.z.x)"]
[null,"        RtnAng.z = Artand(-a.y.x, a.x.x)"]
[null,"    Case 2, 231"]
[null,"        RtnAng.y = Artand(-a.x.z, a.x.x)"]
[null,"        RtnAng.z = Arsind(a.x.y)"]
[null,"        RtnAng.x = Artand(-a.z.y, a.y.y)"]
[null,"    Case 3, 312"]
[null,"        RtnAng.z = Artand(-a.y.x, a.y.y)"]
[null,"        RtnAng.x = Arsind(a.y.z)"]
[null,"        RtnAng.y = Artand(-a.x.z, a.z.z)"]
[null,"    Case 4, 321"]
[null,"        RtnAng.z = Artand(a.x.y, a.x.x)"]
[null,"        RtnAng.y = Arsind(-a.x.z)"]
[null,"        RtnAng.x = Artand(a.y.z, a.z.z)"]
[null,"    Case 5, 132"]
[null,"        RtnAng.x = Artand(a.y.z, a.y.y)"]
[null,"        RtnAng.z = Arsind(-a.y.x)"]
[null,"        RtnAng.y = Artand(a.z.x, a.x.x)"]
[null,"    Case 6, 213"]
[null,"        RtnAng.y = Artand(a.z.x, a.z.z)"]
[null,"        RtnAng.x = Arsind(-a.z.y)"]
[null,"        RtnAng.z = Artand(a.x.y, a.y.y)"]
[null,"    Case 7, 121"]
[null,"        If (a.x.x = 1#) Then"]
[null,"             RtnAng.x = Artand(a.y.z - a.z.y, a.y.y + a.z.z) / 2#"]
[null,"             RtnAng.y = 0#"]
[null,"             RtnAng.z = Artand(a.y.z - a.z.y, a.y.y + a.z.z) / 2#"]
[null,"        Else"]
[null,"             RtnAng.x = Artand(a.x.y, -a.x.z)"]
[null,"             RtnAng.y = Arcosd(a.x.x)"]
[null,"             RtnAng.z = Artand(a.y.x, a.z.x)"]
[null,"        End If"]
[null,"    Case 8, 232"]
[null,"        If (a.y.y = 1#) Then"]
[null,"            RtnAng.y = Artand(a.z.x - a.x.z, a.z.z + a.x.x) / 2#"]
[null,"            RtnAng.z = 0#"]
[null,"            RtnAng.x = Artand(a.z.x - a.x.z, a.z.z + a.x.x) / 2#"]
[null,"        Else"]
[null,"            RtnAng.y = Artand(a.y.z, -a.y.x)"]
[null,"            RtnAng.z = Arcosd(a.y.y)"]
[null,"            RtnAng.x = Artand(a.z.y, a.x.y)"]
[null,"        End If"]
[null,"    Case 9, 313"]
[null,"        If (a.z.z = 1#) Then"]
[null,"            RtnAng.z = Artand(a.x.y - a.y.x, a.x.x + a.y.y) / 2#"]
[null,"            RtnAng.x = 0#"]
[null,"            RtnAng.y = Artand(a.x.y - a.y.x, a.x.x + a.y.y) / 2#"]
[null,"        Else"]
[null,"            RtnAng.z = Artand(a.z.x, -a.z.y)"]
[null,"            RtnAng.x = Arcosd(a.z.z)"]
[null,"            RtnAng.y = Artand(a.x.z, a.y.z)"]
[null,"        End If"]
[null,"    Case 10, 323"]
[null,"        If (a.z.z = 1#) Then"]
[null,"            RtnAng.z = Artand(a.x.y - a.y.x, a.x.x + a.y.y) / 2#"]
[null,"            RtnAng.y = 0#"]
[null,"            RtnAng.x = Artand(a.x.y - a.y.x, a.x.x + a.y.y) / 2#"]
[null,"        Else"]
[null,"            RtnAng.z = Artand(a.z.y, a.z.x)"]
[null,"            RtnAng.y = Arcosd(a.z.z)"]
[null,"            RtnAng.x = Artand(a.y.z, -a.x.z)"]
[null,"        End If"]
[null,"    Case 11, 131"]
[null,"        If (a.x.x = 1#) Then"]
[null,"            RtnAng.x = Artand(a.y.z - a.z.y, a.y.y + a.z.z) / 2#"]
[null,"            RtnAng.z = 0#"]
[null,"            RtnAng.y = Artand(a.y.z - a.z.y, a.y.y + a.z.z) / 2#"]
[null,"        Else"]
[null,"            RtnAng.x = Artand(a.x.z, a.x.y)"]
[null,"            RtnAng.z = Arcosd(a.x.x)"]
[null,"            RtnAng.y = Artand(a.z.x, -a.y.x)"]
[null,"        End If"]
[null,"    Case 12, 212"]
[null,"        If (a.y.y = 1#) Then"]
[null,"            RtnAng.y = Artand(a.z.x - a.x.z, a.z.z + a.x.x) / 2#"]
[null,"            RtnAng.x = 0#"]
[null,"            RtnAng.z = Artand(a.z.x - a.x.z, a.z.z + a.x.x) / 2#"]
[null,"        Else"]
[null,"            RtnAng.y = Artand(a.y.x, a.y.z)"]
[null,"            RtnAng.x = Arcosd(a.y.y)"]
[null,"            RtnAng.z = Artand(a.x.y, -a.z.y)"]
[null,"        End If"]
[null,"    Case Else"]
[null,"        RtnAng.x = vbNull"]
[null,"        RtnAng.y = vbNull"]
[null,"        RtnAng.z = vbNull"]
[null,"    End Select"]
[]
[null,"End Function"]
[]
[]
[null,"回転順序",null,null,null,"回転角",null,null,"方向余弦マトリクス",null,null,null,null,null,null,null,null,"回転順どおりの角",null,null,"オイラー角"]
[null,"番号","１回目","２回目","３回目","１回目","２回目","３回目",{"$f":"exe(\"G=MatRtn(MatRtn(RtnMat(A1,I1),A2,I2),A3,I3)\",\nI152:Q152=matrtn(matrtn(rtnmat(F152,C152),G152,D152),H152,E152),\nI153:Q153=matrtn(matrtn(rtnmat(F153,C153),G153,D153),H153,E153),\nI154:Q154=matrtn(matrtn(rtnmat(F154,C154),G154,D154),H154,E154),\nI155:Q155=matrtn(matrtn(rtnmat(F155,C155),G155,D155),H155,E155),\nI156:Q156=matrtn(matrtn(rtnmat(F156,C156),G156,D156),H156,E156),\nI157:Q157=matrtn(matrtn(rtnmat(F157,C157),G157,D157),H157,E157),\nI158:Q158=matrtn(matrtn(rtnmat(F158,C158),G158,D158),H158,E158),\nI159:Q159=matrtn(matrtn(rtnmat(F159,C159),G159,D159),H159,E159),\nI160:Q160=matrtn(matrtn(rtnmat(F160,C160),G160,D160),H160,E160),\nI161:Q161=matrtn(matrtn(rtnmat(F161,C161),G161,D161),H161,E161),\nI162:Q162=matrtn(matrtn(rtnmat(F162,C162),G162,D162),H162,E162),\nI163:Q163=matrtn(matrtn(rtnmat(F163,C163),G163,D163),H163,E163))","v":"G=MatRtn(MatRtn(RtnMat(A1,I1),A2,I2),A3,I3)"},null,null,null,null,null,null,null,null,{"$f":"exe(\"OdrAng(G,No)\",\nR152:T152=odrang(I152:Q152,B152),\nR153:T153=odrang(I153:Q153,B153),\nR154:T154=odrang(I154:Q154,B154),\nR155:T155=odrang(I155:Q155,B155),\nR156:T156=odrang(I156:Q156,B156),\nR157:T157=odrang(I157:Q157,B157),\nR158:T158=odrang(I158:Q158,B158),\nR159:T159=odrang(I159:Q159,B159),\nR160:T160=odrang(I160:Q160,B160),\nR161:T161=odrang(I161:Q161,B161),\nR162:T162=odrang(I162:Q162,B162),\nR163:T163=odrang(I163:Q163,B163))","v":"OdrAng(G,No)"},null,null,{"$f":"exe(\"RtnAng(G,No)\",\nU152:W152=RtnAng(I152:Q152,B152),\nU153:W153=RtnAng(I153:Q153,B153),\nU154:W154=RtnAng(I154:Q154,B154),\nU155:W155=RtnAng(I155:Q155,B155),\nU156:W156=RtnAng(I156:Q156,B156),\nU157:W157=RtnAng(I157:Q157,B157),\nU158:W158=RtnAng(I158:Q158,B158),\nU159:W159=RtnAng(I159:Q159,B159),\nU160:W160=RtnAng(I160:Q160,B160),\nU161:W161=RtnAng(I161:Q161,B161),\nU162:W162=RtnAng(I162:Q162,B162),\nU163:W163=RtnAng(I163:Q163,B163))","v":"RtnAng(G,No)"}]
[null,"No","I1","I2","I3","A1","A2","A3","G",null,null,null,null,null,null,null,null,"１回目","２回目","３回目","１回目","２回目","３回目"]
[null,1,1,2,3,10,20,30,0.81379768134937569,0.54383814248232276,-0.20487412870286206,-0.46984631039295216,0.82317294464550295,0.3187957775971656,0.34202014332566688,-0.16317591116653404,0.92541657839832425,9.9999999999999396,19.999999999999879,29.999999999999822,9.9999999999999396,19.999999999999879,29.999999999999822]
[null,2,2,3,1,{"$f":"F152","v":10},20,30,0.92541657839832425,0.34202014332566688,-0.16317591116653404,-0.20487412870286206,0.81379768134937569,0.54383814248232276,0.3187957775971656,-0.46984631039295216,0.82317294464550295,9.9999999999999396,19.999999999999879,29.999999999999822,29.999999999999822,9.9999999999999396,19.999999999999879]
[null,3,3,1,2,10,20,30,0.82317294464550295,0.3187957775971656,-0.46984631039295216,-0.16317591116653404,0.92541657839832425,0.34202014332566688,0.54383814248232276,-0.20487412870286206,0.81379768134937569,9.9999999999999396,19.999999999999879,29.999999999999822,19.999999999999879,29.999999999999822,9.9999999999999396]
[null,4,3,2,1,10,20,30,0.92541657839832425,0.16317591116653404,-0.34202014332566688,1.802831123629613E-2,0.88256411925938671,0.46984631039295216,0.37852230636979056,-0.44096961052988048,0.81379768134937569,9.9999999999999396,19.999999999999879,29.999999999999822,29.999999999999822,19.999999999999879,9.9999999999999396]
[null,5,1,3,2,10,20,30,0.81379768134937569,0.37852230636979056,-0.44096961052988048,-0.34202014332566688,0.92541657839832425,0.16317591116653404,0.46984631039295216,1.802831123629613E-2,0.88256411925938671,9.9999999999999396,19.999999999999879,29.999999999999822,9.9999999999999396,29.999999999999822,19.999999999999879]
[null,6,2,1,3,10,20,30,0.88256411925938671,0.46984631039295216,1.802831123629613E-2,-0.44096961052988048,0.81379768134937569,0.37852230636979056,0.16317591116653404,-0.34202014332566688,0.92541657839832425,9.9999999999999396,19.999999999999879,29.999999999999822,19.999999999999879,9.9999999999999396,29.999999999999822]
[null,7,1,2,1,10,20,30,0.93969262078590909,5.9391174613884053E-2,-0.33682408883346343,0.17101007166283258,0.77128057636917824,0.61309202237959448,0.29619813272602274,-0.63371836086199318,0.71461017714275954,9.9999999999999396,19.999999999999876,29.999999999999822,9.9999999999999396,19.999999999999876,29.999999999999822]
[null,8,2,3,2,10,20,30,0.71461017714275954,0.29619813272602274,-0.63371836086199318,-0.33682408883346343,0.93969262078590909,5.9391174613884053E-2,0.61309202237959448,0.17101007166283258,0.77128057636917824,9.9999999999999396,19.999999999999876,29.999999999999822,29.999999999999822,9.9999999999999396,19.999999999999876]
[null,9,3,1,3,10,20,30,0.77128057636917824,0.61309202237959448,0.17101007166283258,-0.63371836086199318,0.71461017714275954,0.29619813272602274,5.9391174613884053E-2,-0.33682408883346343,0.93969262078590909,9.9999999999999396,19.999999999999876,29.999999999999822,19.999999999999876,29.999999999999822,9.9999999999999396]
[null,10,3,2,3,10,20,30,0.71461017714275954,0.63371836086199318,-0.29619813272602274,-0.61309202237959448,0.77128057636917824,0.17101007166283258,0.33682408883346343,5.9391174613884053E-2,0.93969262078590909,9.9999999999999396,19.999999999999876,29.999999999999822,29.999999999999822,19.999999999999876,9.9999999999999396]
[null,11,1,3,1,10,20,30,0.93969262078590909,0.33682408883346343,5.9391174613884053E-2,-0.29619813272602274,0.71461017714275954,0.63371836086199318,0.17101007166283258,-0.61309202237959448,0.77128057636917824,9.9999999999999396,19.999999999999876,29.999999999999822,9.9999999999999396,29.999999999999822,19.999999999999876]
[null,12,2,1,2,10,20,30,0.77128057636917824,0.17101007166283258,-0.61309202237959448,5.9391174613884053E-2,0.93969262078590909,0.33682408883346343,0.63371836086199318,-0.29619813272602274,0.71461017714275954,9.9999999999999396,19.999999999999876,29.999999999999822,19.999999999999876,9.9999999999999396,29.999999999999822]
[]
[null,"回転順序",null,null,null,"回転角",null,null,"四元数",null,null,null,"回転順の角",null,null,"オイラー角"]
[null,"番号","１回目","２回目","３回目","１回目","２回目","３回目",{"$f":"exe(\"G=QtnRtn(QtnRtn(RtnQtn(A1,I1),A2,I2),A3,I3)\",\nI168:L168=QtnRtn(QtnRtn(rtnqtn(F168,C168),G168,D168),H168,E168),\nI169:L169=QtnRtn(QtnRtn(rtnqtn(F169,C169),G169,D169),H169,E169),\nI170:L170=QtnRtn(QtnRtn(rtnqtn(F170,C170),G170,D170),H170,E170),\nI171:L171=QtnRtn(QtnRtn(rtnqtn(F171,C171),G171,D171),H171,E171),\nI172:L172=QtnRtn(QtnRtn(rtnqtn(F172,C172),G172,D172),H172,E172),\nI173:L173=QtnRtn(QtnRtn(rtnqtn(F173,C173),G173,D173),H173,E173),\nI174:L174=QtnRtn(QtnRtn(rtnqtn(F174,C174),G174,D174),H174,E174),\nI175:L175=QtnRtn(QtnRtn(rtnqtn(F175,C175),G175,D175),H175,E175),\nI176:L176=QtnRtn(QtnRtn(rtnqtn(F176,C176),G176,D176),H176,E176),\nI177:L177=QtnRtn(QtnRtn(rtnqtn(F177,C177),G177,D177),H177,E177),\nI178:L178=QtnRtn(QtnRtn(rtnqtn(F178,C178),G178,D178),H178,E178),\nI179:L179=QtnRtn(QtnRtn(rtnqtn(F179,C179),G179,D179),H179,E179))","v":"G=QtnRtn(QtnRtn(RtnQtn(A1,I1),A2,I2),A3,I3)"},null,null,null,{"$f":"exe(\"OdrAng(G,No)\",\nM168:O168=odrang(QtnDcm(I168:L168),B168),\nM169:O169=odrang(QtnDcm(I169:L169),B169),\nM170:O170=odrang(QtnDcm(I170:L170),B170),\nM171:O171=odrang(QtnDcm(I171:L171),B171),\nM172:O172=odrang(QtnDcm(I172:L172),B172),\nM173:O173=odrang(QtnDcm(I173:L173),B173),\nM174:O174=odrang(QtnDcm(I174:L174),B174),\nM175:O175=odrang(QtnDcm(I175:L175),B175),\nM176:O176=odrang(QtnDcm(I176:L176),B176),\nM177:O177=odrang(QtnDcm(I177:L177),B177),\nM178:O178=odrang(QtnDcm(I178:L178),B178),\nM179:O179=odrang(QtnDcm(I179:L179),B179))","v":"OdrAng(G,No)"},null,null,{"$f":"exe(\"RtnAng(G,No)\",\nP168:R168=RtnAng(QtnDcm(I168:L168),B168),\nP169:R169=RtnAng(QtnDcm(I169:L169),B169),\nP170:R170=RtnAng(QtnDcm(I170:L170),B170),\nP171:R171=RtnAng(QtnDcm(I171:L171),B171),\nP172:R172=RtnAng(QtnDcm(I172:L172),B172),\nP173:R173=RtnAng(QtnDcm(I173:L173),B173),\nP174:R174=RtnAng(QtnDcm(I174:L174),B174),\nP175:R175=RtnAng(QtnDcm(I175:L175),B175),\nP176:R176=RtnAng(QtnDcm(I176:L176),B176),\nP177:R177=RtnAng(QtnDcm(I177:L177),B177),\nP178:R178=RtnAng(QtnDcm(I178:L178),B178),\nP179:R179=RtnAng(QtnDcm(I179:L179),B179))","v":"RtnAng(G,No)"}]
[null,"No","I1","I2","I3","A1","A2","A3","G",null,null,null,"１回目","２回目","３回目","１回目","２回目","３回目"]
[null,1,1,2,3,10,20,30,0.94371436414748955,0.12767944069577974,0.14487812541736858,0.26853582275156773,9.9999999999999396,19.999999999999879,29.999999999999826,9.9999999999999396,19.999999999999879,29.999999999999826]
[null,2,2,3,1,{"$f":"F168","v":10},20,30,0.94371436414748955,0.26853582275156773,0.12767944069577974,0.14487812541736858,9.9999999999999396,19.999999999999879,29.999999999999826,29.999999999999826,9.9999999999999396,19.999999999999879]
[null,3,3,1,2,10,20,30,0.94371436414748955,0.14487812541736858,0.26853582275156773,0.12767944069577974,9.9999999999999396,19.999999999999879,29.999999999999826,19.999999999999879,29.999999999999826,9.9999999999999396]
[null,4,3,2,1,10,20,30,0.95154852464378903,0.23929833774472914,0.18930785741199893,3.8134576474850218E-2,9.9999999999999414,19.999999999999883,29.999999999999822,29.999999999999822,19.999999999999883,9.9999999999999414]
[null,5,1,3,2,10,20,30,0.95154852464378903,3.8134576474850218E-2,0.23929833774472914,0.18930785741199893,9.9999999999999414,19.999999999999883,29.999999999999822,9.9999999999999414,29.999999999999822,19.999999999999883]
[null,6,2,1,3,10,20,30,0.95154852464378903,0.18930785741199893,3.8134576474850218E-2,0.23929833774472914,9.9999999999999414,19.999999999999883,29.999999999999822,19.999999999999883,9.9999999999999414,29.999999999999822]
[null,7,1,2,1,10,20,30,0.92541657839832414,0.33682408883346343,0.17101007166283344,-3.0153689607045477E-2,9.9999999999999414,19.999999999999893,29.999999999999822,9.9999999999999414,19.999999999999893,29.999999999999822]
[null,8,2,3,2,10,20,30,0.92541657839832414,-3.0153689607045477E-2,0.33682408883346343,0.17101007166283344,9.9999999999999414,19.999999999999893,29.999999999999822,29.999999999999822,9.9999999999999414,19.999999999999893]
[null,9,3,1,3,10,20,30,0.92541657839832414,0.17101007166283344,-3.0153689607045477E-2,0.33682408883346343,9.9999999999999414,19.999999999999893,29.999999999999822,19.999999999999893,29.999999999999822,9.9999999999999414]
[null,10,3,2,3,10,20,30,0.92541657839832414,3.0153689607045477E-2,0.17101007166283344,0.33682408883346343,9.9999999999999414,19.999999999999893,29.999999999999822,29.999999999999822,19.999999999999893,9.9999999999999414]
[null,11,1,3,1,10,20,30,0.92541657839832414,0.33682408883346343,3.0153689607045477E-2,0.17101007166283344,9.9999999999999414,19.999999999999893,29.999999999999822,9.9999999999999414,29.999999999999822,19.999999999999893]
[null,12,2,1,2,10,20,30,0.92541657839832414,0.17101007166283344,0.33682408883346343,3.0153689607045477E-2,9.9999999999999414,19.999999999999893,29.999999999999822,19.999999999999893,9.9999999999999414,29.999999999999822]

{"sheet":"固定角","index":1,"n_rows":43,"n_cols":20,"rows_kept":43,"cut":false,"hidden":false,"merged":[[11,17,11,19],[30,8,30,16],[29,5,29,7],[28,17,28,19],[28,5,28,7],[29,8,29,16],[28,1,28,4],[13,8,13,16],[28,8,28,16],[11,1,11,4],[11,5,11,7],[11,8,11,16],[12,8,12,16]]}
[]
[]
[]
[]
[]
[]
[]
[]
[]
[]
[null,null,"オイラー角から固定角への変換"]
[null,"回転順序",null,null,null,"オイラー角",null,null,"方向余弦マトリクス",null,null,null,null,null,null,null,null,"固定角"]
[null,"番号","１回目","２回目","３回目","１回目","２回目","３回目",{"$f":"exe(\"D=MatRtn(MatRtn(RtnMat(A1,i1),A2,i2),A3,i3)\",\nI15:Q15=matrtn(matrtn(rtnmat(F15,C15),G15,D15),H15,E15),\nI16:Q16=matrtn(matrtn(rtnmat(F16,C16),G16,D16),H16,E16),\nI17:Q17=matrtn(matrtn(rtnmat(F17,C17),G17,D17),H17,E17),\nI18:Q18=matrtn(matrtn(rtnmat(F18,C18),G18,D18),H18,E18),\nI19:Q19=matrtn(matrtn(rtnmat(F19,C19),G19,D19),H19,E19),\nI20:Q20=matrtn(matrtn(rtnmat(F20,C20),G20,D20),H20,E20),\nI21:Q21=matrtn(matrtn(rtnmat(F21,C21),G21,D21),H21,E21),\nI22:Q22=matrtn(matrtn(rtnmat(F22,C22),G22,D22),H22,E22),\nI23:Q23=matrtn(matrtn(rtnmat(F23,C23),G23,D23),H23,E23),\nI24:Q24=matrtn(matrtn(rtnmat(F24,C24),G24,D24),H24,E24),\nI25:Q25=matrtn(matrtn(rtnmat(F25,C25),G25,D25),H25,E25),\nI26:Q26=matrtn(matrtn(rtnmat(F26,C26),G26,D26),H26,E26))","v":"D=MatRtn(MatRtn(RtnMat(A1,i1),A2,i2),A3,i3)"},null,null,null,null,null,null,null,null,"３回目","２回目","１回目"]
[null,"No","i1","i2","i3","A1","A2","A3","D=[A1]i1･[A2]i2･[A3]i3",null,null,null,null,null,null,null,null,"A3","A2","A1"]
[null,1,1,2,3,10,20,30,0.81379768134937569,0.54383814248232276,-0.20487412870286206,-0.46984631039295216,0.82317294464550295,0.3187957775971656,0.34202014332566688,-0.16317591116653404,0.92541657839832425,{"$f":"DEGREES(ATAN2(I15,J15))","v":33.753695002935181},{"$f":"DEGREES(ASIN(-K15))","v":11.822130763866332},{"$f":"DEGREES(ATAN2(Q15,N15))","v":19.008263264952525}]
[null,2,2,3,1,{"$f":"F15","v":10},20,30,0.92541657839832425,0.34202014332566688,-0.16317591116653404,-0.20487412870286206,0.81379768134937569,0.54383814248232276,0.3187957775971656,-0.46984631039295216,0.82317294464550295,{"$f":"DEGREES(ATAN2(M16,N16))","v":33.753695002935181},{"$f":"DEGREES(ASIN(-L16))","v":11.822130763866332},{"$f":"DEGREES(ATAN2(I16,O16))","v":19.008263264952525}]
[null,3,3,1,2,10,20,30,0.82317294464550295,0.3187957775971656,-0.46984631039295216,-0.16317591116653404,0.92541657839832425,0.34202014332566688,0.54383814248232276,-0.20487412870286206,0.81379768134937569,{"$f":"DEGREES(ATAN2(Q17,O17))","v":33.753695002935181},{"$f":"DEGREES(ASIN(-P17))","v":11.822130763866332},{"$f":"DEGREES(ATAN2(M17,J17))","v":19.008263264952525}]
[null,4,3,2,1,10,20,30,0.92541657839832425,0.16317591116653404,-0.34202014332566688,1.802831123629613E-2,0.88256411925938671,0.46984631039295216,0.37852230636979056,-0.44096961052988048,0.81379768134937569,{"$f":"DEGREES(ATAN2(Q18,-P18))","v":28.451775256585332},{"$f":"DEGREES(ASIN(O18))","v":22.242180910309393},{"$f":"DEGREES(ATAN2(I18,-L18))","v":-1.1160546770045645}]
[null,5,1,3,2,10,20,30,0.81379768134937569,0.37852230636979056,-0.44096961052988048,-0.34202014332566688,0.92541657839832425,0.16317591116653404,0.46984631039295216,1.802831123629613E-2,0.88256411925938671,{"$f":"DEGREES(ATAN2(I19,-K19))","v":28.451775256585332},{"$f":"DEGREES(ASIN(J19))","v":22.242180910309393},{"$f":"DEGREES(ATAN2(M19,-P19))","v":-1.1160546770045645}]
[null,6,2,1,3,10,20,30,0.88256411925938671,0.46984631039295216,1.802831123629613E-2,-0.44096961052988048,0.81379768134937569,0.37852230636979056,0.16317591116653404,-0.34202014332566688,0.92541657839832425,{"$f":"DEGREES(ATAN2(M20,-L20))","v":28.451775256585332},{"$f":"DEGREES(ASIN(N20))","v":22.242180910309393},{"$f":"DEGREES(ATAN2(Q20,-K20))","v":-1.1160546770045645}]
[null,7,1,2,1,10,20,30,0.93969262078590909,5.9391174613884053E-2,-0.33682408883346343,0.17101007166283258,0.77128057636917824,0.61309202237959448,0.29619813272602274,-0.63371836086199318,0.71461017714275954,{"$f":"DEGREES(ATAN2(N21,L21))","v":15.585408407268925},{"$f":"DEGREES(ACOS(M21))","v":39.53097683461597},{"$f":"DEGREES(ATAN2(-P21,J21))","v":5.3540395668802772}]
[null,8,2,3,2,10,20,30,0.71461017714275954,0.29619813272602274,-0.63371836086199318,-0.33682408883346343,0.93969262078590909,5.9391174613884053E-2,0.61309202237959448,0.17101007166283258,0.77128057636917824,{"$f":"DEGREES(ATAN2(O22,P22))","v":15.585408407268925},{"$f":"DEGREES(ACOS(Q22))","v":39.53097683461597},{"$f":"DEGREES(ATAN2(-K22,N22))","v":5.3540395668802772}]
[null,9,3,1,3,10,20,30,0.77128057636917824,0.61309202237959448,0.17101007166283258,-0.63371836086199318,0.71461017714275954,0.29619813272602274,5.9391174613884053E-2,-0.33682408883346343,0.93969262078590909,{"$f":"DEGREES(ATAN2(J23,K23))","v":15.585408407268925},{"$f":"DEGREES(ACOS(I23))","v":39.53097683461597},{"$f":"DEGREES(ATAN2(-L23,O23))","v":5.3540395668802772}]
[null,10,3,2,3,10,20,30,0.71461017714275954,0.63371836086199318,-0.29619813272602274,-0.61309202237959448,0.77128057636917824,0.17101007166283258,0.33682408883346343,5.9391174613884053E-2,0.93969262078590909,{"$f":"DEGREES(ATAN2(-L24,N24))","v":15.585408407268925},{"$f":"DEGREES(ACOS(M24))","v":39.53097683461597},{"$f":"DEGREES(ATAN2(J24,P24))","v":5.3540395668802772}]
[null,11,1,3,1,10,20,30,0.93969262078590909,0.33682408883346343,5.9391174613884053E-2,-0.29619813272602274,0.71461017714275954,0.63371836086199318,0.17101007166283258,-0.61309202237959448,0.77128057636917824,{"$f":"DEGREES(ATAN2(-P25,O25))","v":15.585408407268925},{"$f":"DEGREES(ACOS(Q25))","v":39.53097683461597},{"$f":"DEGREES(ATAN2(N25,K25))","v":5.3540395668802772}]
[null,12,2,1,2,10,20,30,0.77128057636917824,0.17101007166283258,-0.61309202237959448,5.9391174613884053E-2,0.93969262078590909,0.33682408883346343,0.63371836086199318,-0.29619813272602274,0.71461017714275954,{"$f":"DEGREES(ATAN2(-K26,J26))","v":15.585408407268925},{"$f":"DEGREES(ACOS(I26))","v":39.53097683461597},{"$f":"DEGREES(ATAN2(O26,L26))","v":5.3540395668802772}]
[]
[null,null,"固定角からオイラー角への変換"]
[null,"回転順序",null,null,null,"固定角",null,null,"固定角による回転マトリクス",null,null,null,null,null,null,null,null,"オイラー角"]
[null,"番号","１回目","２回目","３回目",{"$f":"exe(\"OdrAng(D,No)\",\nF32:H32=odrang(I15:Q15,B32),\nF33:H33=odrang(I16:Q16,B33),\nF34:H34=odrang(I17:Q17,B34),\nF35:H35=odrang(I18:Q18,B35),\nF36:H36=odrang(I19:Q19,B36),\nF37:H37=odrang(I20:Q20,B37),\nF38:H38=odrang(I21:Q21,B38),\nF39:H39=odrang(I22:Q22,B39),\nF40:H40=odrang(I23:Q23,B40),\nF41:H41=odrang(I24:Q24,B41),\nF42:H42=odrang(I25:Q25,B42),\nF43:H43=odrang(I26:Q26,B43))","v":"OdrAng(D,No)"},null,null,{"$f":"exe(\"G=MatRtn(MatRtn(RtnMat(A3,i3),A2,i2),A1,i1)\",\nI32:Q32=matrtn(matrtn(rtnmat(F32,C32),G32,D32),H32,E32),\nI33:Q33=matrtn(matrtn(rtnmat(F33,C33),G33,D33),H33,E33),\nI34:Q34=matrtn(matrtn(rtnmat(F34,C34),G34,D34),H34,E34),\nI35:Q35=matrtn(matrtn(rtnmat(F35,C35),G35,D35),H35,E35),\nI36:Q36=matrtn(matrtn(rtnmat(F36,C36),G36,D36),H36,E36),\nI37:Q37=matrtn(matrtn(rtnmat(F37,C37),G37,D37),H37,E37),\nI38:Q38=matrtn(matrtn(rtnmat(F38,C38),G38,D38),H38,E38),\nI39:Q39=matrtn(matrtn(rtnmat(F39,C39),G39,D39),H39,E39),\nI40:Q40=matrtn(matrtn(rtnmat(F40,C40),G40,D40),H40,E40),\nI41:Q41=matrtn(matrtn(rtnmat(F41,C41),G41,D41),H41,E41),\nI42:Q42=matrtn(matrtn(rtnmat(F42,C42),G42,D42),H42,E42),\nI43:Q43=matrtn(matrtn(rtnmat(F43,C43),G43,D43),H43,E43))","v":"G=MatRtn(MatRtn(RtnMat(A3,i3),A2,i2),A1,i1)"},null,null,null,null,null,null,null,null,"１回目","２回目","３回目"]
[null,"No","i3","i2","i1","A3","A2","A1","G=[A3]i3･[A2]i2･[A1]i1",null,null,null,null,null,null,null,null,"A1","A2","A3"]
[null,4,3,2,1,33.753695002935167,11.822130763866328,19.008263264952518,0.81379768134937769,0.5438381424823201,-0.20487412870286087,-0.46984631039295033,0.82317294464550472,0.31879577759716377,0.34202014332566444,-0.16317591116653415,0.92541657839832503,{"$f":"DEGREES(ATAN2(Q32,-P32))","v":9.9999999999999432},{"$f":"DEGREES(ASIN(O32))","v":19.999999999999737},{"$f":"DEGREES(ATAN2(I32,-L32))","v":29.999999999999673}]
[null,5,1,3,2,33.753695002935167,11.822130763866328,19.008263264952518,0.92541657839832503,0.34202014332566444,-0.16317591116653415,-0.20487412870286087,0.81379768134937769,0.5438381424823201,0.31879577759716377,-0.46984631039295033,0.82317294464550472,{"$f":"DEGREES(ATAN2(I33,-K33))","v":9.9999999999999432},{"$f":"DEGREES(ASIN(J33))","v":19.999999999999737},{"$f":"DEGREES(ATAN2(M33,-P33))","v":29.999999999999673}]
[null,6,2,1,3,33.753695002935167,11.822130763866328,19.008263264952518,0.82317294464550472,0.31879577759716377,-0.46984631039295033,-0.16317591116653415,0.92541657839832503,0.34202014332566444,0.5438381424823201,-0.20487412870286087,0.81379768134937769,{"$f":"DEGREES(ATAN2(M34,-L34))","v":9.9999999999999432},{"$f":"DEGREES(ASIN(N34))","v":19.999999999999737},{"$f":"DEGREES(ATAN2(Q34,-K34))","v":29.999999999999673}]
[null,1,1,2,3,28.451775256585321,22.242180910309386,-1.1160546770045641,0.92541657839832503,0.1631759111665321,-0.34202014332566544,1.802831123629604E-2,0.88256411925938805,0.46984631039294961,0.3785223063697884,-0.44096961052987843,0.81379768134937769,{"$f":"DEGREES(ATAN2(I35,J35))","v":9.9999999999998188},{"$f":"DEGREES(ASIN(-K35))","v":19.999999999999797},{"$f":"DEGREES(ATAN2(Q35,N35))","v":29.999999999999634}]
[null,2,2,3,1,28.451775256585321,22.242180910309386,-1.1160546770045641,0.81379768134937769,0.3785223063697884,-0.44096961052987843,-0.34202014332566544,0.92541657839832503,0.1631759111665321,0.46984631039294961,1.802831123629604E-2,0.88256411925938805,{"$f":"DEGREES(ATAN2(M36,N36))","v":9.9999999999998188},{"$f":"DEGREES(ASIN(-L36))","v":19.999999999999797},{"$f":"DEGREES(ATAN2(I36,O36))","v":29.999999999999634}]
[null,3,3,1,2,28.451775256585321,22.242180910309386,-1.1160546770045641,0.88256411925938805,0.46984631039294961,1.802831123629604E-2,-0.44096961052987843,0.81379768134937769,0.3785223063697884,0.1631759111665321,-0.34202014332566544,0.92541657839832503,{"$f":"DEGREES(ATAN2(Q37,O37))","v":9.9999999999998188},{"$f":"DEGREES(ASIN(-P37))","v":19.999999999999797},{"$f":"DEGREES(ATAN2(M37,J37))","v":29.999999999999634}]
[null,12,2,1,2,15.585408407268918,39.530976834615956,5.3540395668802754,0.93969262078590965,5.9391174613883387E-2,-0.33682408883346171,0.17101007166283069,0.7712805763691809,0.61309202237959148,0.2961981327260218,-0.63371836086198996,0.71461017714276265,{"$f":"DEGREES(ATAN2(-K38,J38))","v":9.9999999999998845},{"$f":"DEGREES(ACOS(I38))","v":19.999999999999787},{"$f":"DEGREES(ATAN2(O38,L38))","v":29.999999999999634}]
[null,10,3,2,3,15.585408407268918,39.530976834615956,5.3540395668802754,0.71461017714276265,0.2961981327260218,-0.63371836086198996,-0.33682408883346171,0.93969262078590965,5.9391174613883387E-2,0.61309202237959148,0.17101007166283069,0.7712805763691809,{"$f":"DEGREES(ATAN2(-L39,N39))","v":9.9999999999998845},{"$f":"DEGREES(ACOS(M39))","v":19.999999999999787},{"$f":"DEGREES(ATAN2(J39,P39))","v":29.999999999999634}]
[null,11,1,3,1,15.585408407268918,39.530976834615956,5.3540395668802754,0.7712805763691809,0.61309202237959148,0.17101007166283069,-0.63371836086198996,0.71461017714276265,0.2961981327260218,5.9391174613883387E-2,-0.33682408883346171,0.93969262078590965,{"$f":"DEGREES(ATAN2(-P40,O40))","v":9.9999999999998845},{"$f":"DEGREES(ACOS(Q40))","v":19.999999999999787},{"$f":"DEGREES(ATAN2(N40,K40))","v":29.999999999999634}]
[null,8,2,3,2,15.585408407268918,39.530976834615956,5.3540395668802754,0.71461017714276265,0.63371836086198996,-0.2961981327260218,-0.61309202237959148,0.7712805763691809,0.17101007166283069,0.33682408883346171,5.9391174613883387E-2,0.93969262078590965,{"$f":"DEGREES(ATAN2(O41,P41))","v":9.9999999999998845},{"$f":"DEGREES(ACOS(Q41))","v":19.999999999999787},{"$f":"DEGREES(ATAN2(-K41,N41))","v":29.999999999999634}]
[null,9,3,1,3,15.585408407268918,39.530976834615956,5.3540395668802754,0.93969262078590965,0.33682408883346171,5.9391174613883387E-2,-0.2961981327260218,0.71461017714276265,0.63371836086198996,0.17101007166283069,-0.61309202237959148,0.7712805763691809,{"$f":"DEGREES(ATAN2(J42,K42))","v":9.9999999999998845},{"$f":"DEGREES(ACOS(I42))","v":19.999999999999787},{"$f":"DEGREES(ATAN2(-L42,O42))","v":29.999999999999634}]
[null,7,1,2,1,15.585408407268918,39.530976834615956,5.3540395668802754,0.7712805763691809,0.17101007166283069,-0.61309202237959148,5.9391174613883387E-2,0.93969262078590965,0.33682408883346171,0.63371836086198996,-0.2961981327260218,0.71461017714276265,{"$f":"DEGREES(ATAN2(N43,L43))","v":9.9999999999998845},{"$f":"DEGREES(ACOS(M43))","v":19.999999999999787},{"$f":"DEGREES(ATAN2(-P43,J43))","v":29.999999999999634}]

{"sheet":"お問合せ","index":2,"n_rows":158,"n_cols":5,"rows_kept":158,"cut":false,"hidden":false,"merged":[[3,2,3,6]]}
[]
[null,"技術的なご質問のみお受けします。"]
[]
[null,null,"sxsijk@Gmail.com","sxsijk@Gmail.com"]
[]
[]
[]
[]
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[null,null,null,null,{"$f":"C118-C$19","v":0}]
[null,null,null,null,{"$f":"IF(C119<0,C119+360,C119)-IF(C$20<0,C$20+360,C$20)","v":0}]
[null,null,null,null,{"$f":"C120-C$21","v":0}]
[]
[null,null,null,null,{"$f":"C122-C$15","v":0}]
[null,null,null,null,{"$f":"C123-C$16","v":0}]
[null,null,null,null,{"$f":"C124-C$17","v":0}]
[null,null,null,null,{"$f":"C125-C$18","v":0}]
[null,null,null,null,{"$f":"C126-C$19","v":0}]
[null,null,null,null,{"$f":"IF(C127<0,C127+360,C127)-IF(C$20<0,C$20+360,C$20)","v":0}]
[null,null,null,null,{"$f":"C128-C$21","v":0}]
[null,null,null,null,{"$f":"C129-C$22","v":0}]
[null,null,null,null,{"$f":"C130-C$23","v":0}]
[null,null,null,null,{"$f":"C131-C$24","v":0}]
[null,null,null,null,{"$f":"C132-C$25","v":0}]
[]
[]
[null,null,35,null,{"$f":"C135-C$15","v":35}]
[null,"λp",null,null,{"$f":"C136-C$16","v":0}]
[null,null,null,null,{"$f":"C137-C$17","v":0}]
[null,null,{"$f":"SQRT(((#REF!^2*COS(RADIANS(C135)))^2+(#REF!^2*SIN(RADIANS(C135)))^2)/(#REF!^2*(1-C$4*SIN(RADIANS(C135))^2)))","v":{"$error":"#REF!"}},null,{"$f":"C138-C$18","v":{"$error":"#REF!"}}]
[null,null,{"$f":"DEGREES(C141/C138)","v":{"$error":"#REF!"}},null,{"$f":"C139-C$23","v":{"$error":"#REF!"}}]
[null,null,null,null,{"$f":"C140-C$24","v":0}]
[null,null,null,null,{"$f":"C141-C$25","v":0}]
[null,null,null,null,{"$f":"IF(C142<0,C142+360,C142)-IF(C$20<0,C$20+360,C$20)","v":0}]
[null,null,null,null,{"$f":"C143-C$21","v":0}]
[null,null,{"$f":"DEGREES(ATAN2((1-C$4)*COS(RADIANS(C143)),SIN(RADIANS(C143))))","v":{"$error":"#VALUE!"}},null,{"$f":"C144-C$19","v":{"$error":"#VALUE!"}}]
[null,null,{"$f":"SQRT(((#REF!^2*COS(RADIANS(C144)))^2+(#REF!^2*SIN(RADIANS(C144)))^2)/(#REF!^2*(1-C$4*SIN(RADIANS(C144))^2)))","v":{"$error":"#REF!"}},null,{"$f":"C145-C$22","v":{"$error":"#REF!"}}]
[null,null,{"$f":"DEGREES(ACOS(COS(RADIANS(C$137))*COS(RADIANS(C143))*(COS(RADIANS(C$136))*COS(RADIANS(C142))+SIN(RADIANS(C$136))*SIN(RADIANS(C142)))+SIN(RADIANS(C$137))*SIN(RADIANS(C143))))","v":0},null,{"$f":"C146-C$23","v":0}]
[null,null,{"$f":"DEGREES(ATAN2(COS(RADIANS(C$137))*SIN(RADIANS(C143))-SIN(RADIANS(C$137))*COS(RADIANS(C143))*COS(RADIANS(C142-C$136)),COS(RADIANS(C143))*SIN(RADIANS(C142-C$136))))","v":{"$error":"#DIV/0!"}},null,{"$f":"C147-C$24","v":{"$error":"#DIV/0!"}}]
[null,null,{"$f":"SQRT(((C$138-C145)*COS(RADIANS(C146/2)))^2+(MAX(C$138,C145)*RADIANS(C146)-ABS(C$138-C145)*SIN(RADIANS(C146/2)))^2)","v":{"$error":"#REF!"}},null,{"$f":"C148-C$25","v":{"$error":"#REF!"}}]
["補正","θ＝θ+(d0-d)/r",{"$f":"C139+DEGREES((C141-C148)/C145)","v":{"$error":"#REF!"}},null,{"$f":"C149-C$23","v":{"$error":"#REF!"}}]
[null,null,{"$f":"C140","v":0},null,{"$f":"C150-C$24","v":0}]
[null,null,{"$f":"C141","v":0},null,{"$f":"C151-C$25","v":0}]
[null,null,null,null,{"$f":"IF(C152<0,C152+360,C152)-IF(C$20<0,C$20+360,C$20)","v":0}]
[null,null,null,null,{"$f":"C153-C$21","v":0}]
[null,null,{"$f":"DEGREES(ATAN2((1-C$4)*COS(RADIANS(C153)),SIN(RADIANS(C153))))","v":{"$error":"#VALUE!"}},null,{"$f":"C154-C$19","v":{"$error":"#VALUE!"}}]
[null,null,{"$f":"SQRT(((#REF!^2*COS(RADIANS(C154)))^2+(#REF!^2*SIN(RADIANS(C154)))^2)/(#REF!^2*(1-C$4*SIN(RADIANS(C154))^2)))","v":{"$error":"#REF!"}},null,{"$f":"C155-C$22","v":{"$error":"#REF!"}}]
[null,null,{"$f":"DEGREES(ACOS(COS(RADIANS(C$137))*COS(RADIANS(C153))*(COS(RADIANS(C$136))*COS(RADIANS(C152))+SIN(RADIANS(C$136))*SIN(RADIANS(C152)))+SIN(RADIANS(C$137))*SIN(RADIANS(C153))))","v":0},null,{"$f":"C156-C$23","v":0}]
[null,null,{"$f":"DEGREES(ATAN2(COS(RADIANS(C$137))*SIN(RADIANS(C153))-SIN(RADIANS(C$137))*COS(RADIANS(C153))*COS(RADIANS(C152-C$136)),COS(RADIANS(C153))*SIN(RADIANS(C152-C$136))))","v":{"$error":"#DIV/0!"}},null,{"$f":"C157-C$24","v":{"$error":"#DIV/0!"}}]
[null,null,{"$f":"SQRT(((C$138-C155)*COS(RADIANS(C156/2)))^2+(MAX(C$138,C155)*RADIANS(C156)-ABS(C$138-C155)*SIN(RADIANS(C156/2)))^2)","v":{"$error":"#REF!"}},null,{"$f":"C158-C$25","v":{"$error":"#REF!"}}]