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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.
'deg' | Compute angles in degrees (radians default) |
'zyx' | Return solution for sequential rotations about Z, Y, X axes (Paul book) |
© 1990-2012 Peter Corke.