RPY2T
Return a homogeneous transformation for the roll/pitch/yaw angles (in radians) given as input. These correspond to rotations about the X, Y and Z fixed axes respectively. The rotation matrix is evaluated as follows
R = Rz(ROLL)*Ry(PITCH)*Rx(YAW)
The number of inputs to this block is three and all inputs are regular inputs. The first input is the roll angle, i.e. a rotation about the Z-axis of the fixed reference frame. The second input is the pitch angle, i.e. a rotation about the Y-axis of the fixed reference frame. The third input is the yaw angle, i.e. a rotation about the X-axis of the fixed reference frame.