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rts_c_rpy2tr

Roll-Pitch-Yaw (RPI) angles to homogeneous transform

Calling Sequence

TR = RTS_C_RPY2TR(ROLL, PITCH, YAW, OPTIONS)
TR = RTS_C_RPY2TR(ANG, OPTIONS)

Parameters

OPTIONS = 'deg' :

Compute angles in degrees (radians default)

Description

TR = RTS_C_RPY2TR(ROLL, PITCH, YAW, OPTIONS) is a homogeneous transformation equivalent to rotations about the X, Y, Z fixed axes respectively. The rotation matrix is evaluated as follows:

R = Rz(ROLL)*Ry(PITCH)*Rx(YAW).

If ROLL, PITCH, YAW are column vectors then they are assumed to represent a trajectory and TR is 4x(4*n) matrix, where n is the length of vectors ROLL, PITCH, YAW.

TR = RTS_C_RPY2TR(ANG, OPTIONS) as above but the fixed angles are taken from consecutive columns of matrix ANG = [ROLL, PITCH, YAW].

Notes

See also

Authors


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