Roll-Pitch-Yaw (RPI) angles to homogeneous transform
TR = RTS_C_RPY2TR(ROLL, PITCH, YAW, OPTIONS) TR = RTS_C_RPY2TR(ANG, OPTIONS)
Compute angles in degrees (radians default)
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].
Vectors ROLL, PITCH, YAW must be of the same length.
The translational part is zero.
The output is contained into a 4x(4*n) matrix, where n is the length of vectors ROLL, PITCH, YAW. Function rpy2tr can be alternatively used (by specifying options 'c') if the desired output must be contained into a hypermatrix of dimension 4x4xn.