M-File Help: rpy2tr | View code for rpy2tr |
Roll-pitch-yaw angles to homogeneous transform
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) |
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