M-File Help: rpy2r View code for rpy2r

rpy2r

Roll-pitch-yaw angles to rotation matrix

R = rpy2r(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 R 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, eul2tr


 

© 1990-2011 Peter Corke.