M-File Help: tr2rpy | View code for tr2rpy |
Convert a homogeneous transform to roll-pitch-yaw angles
rpy = tr2rpy(R, options) are the roll-pitch-yaw angles expressed as a row vector corresponding to the orthonormal rotation matrix R. If R or T represents a trajectory (has 3 dimensions), then each row of rpy corresponds to a step of the trajectory.'deg' | Compute angles in degrees (radians default) |
'zyx' | Return solution for sequential rotations about Z, Y, X axes (Paul book) |
© 1990-2011 Peter Corke.