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rpy2tr

Roll-pitch-yaw angles to homogeneous transform

T = rpy2tr(rpy, options) is a homogeneous transformation equivalent to the specified roll, pitch, yaw angles which correspond to rotations about the X, Y, Z axes respectively. If rpy has multiple rows they are assumed to represent a trajectory and T is a three dimensional matrix, where the last index corresponds to the rows of rpy.

T = rpy2tr(roll, pitch, yaw, options) as above but the roll-pitch-yaw angles are passed as separate arguments. If roll, pitch and yaw are column vectors they are assumed to represent a trajectory and T is a three dimensional matrix, where the last index corresponds to the rows of roll, pitch, yaw.

Options

'deg' Compute angles in degrees (radians default)
'zyx' Return solution for sequential rotations about Z, Y, X axes (Paul book)

Note

See also

tr2rpy, rpy2r, eul2tr


 

© 1990-2012 Peter Corke.