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Robotics_Toolbox >> Robotics_Toolbox > rts_c_tr2rpy

rts_c_tr2rpy

Convert homogeneous transform or rotation matrix to roll-pitch-yaw angles

Calling Sequence

RPY = rts_c_tr2rpy(TR, OPTIONS)

Parameters

OPTIONS = 'deg' :

compute angles in degrees (radians default)

Description

RPY = RTS_C_TR2RPY(TR, OPTIONS) are the RPY angles expressed as a row vector corresponding to the rotational part of a homogeneous transform TR. The 3 angles RPY=[ROLL, PITCH, YAW] correspond to sequential rotations about the X, Y and Z fixed axes respectively.

RPY = RTS_C_TR2RPY(R, OPTIONS) are the RPY angles expressed as a row vector corresponding to the orthonormal rotation matrix R.

If R has (3*n) columns or T has (4*n) columns, they are interpreted as a trajectory of n elements. Each row of RPY corresponds to a step of the trajectory.

Notes

See also

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