Roll-pitch-yaw angles to homogeneous transform
T = rpy2tr(RPY, OPTIONS) T = rpy2tr(ROLL, PITCH, YAW, OPTIONS)
T = RPY2TR(RPY, OPTIONS) is a homogeneous transformation equivalent to the specified roll, pitch, yaw angles which correspond to rotations about the X, Y, Z axes respectively. If RPY has multiple rows they are assumed to represent a trajectory and T is a three dimensional matrix, where the last index corresponds to the rows of RPY.
T = RPY2TR(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 T is a three dimensional matrix, where the last index corresponds to the rows of ROLL, PITCH, YAW.
Compute angles in degrees (radians default)
Return solution for sequential rotations about Z, Y, X axes (Paul book)
In previous releases (8) the angles corresponded to rotations about ZYX. Many texts (Paul, Spong) use the rotation order ZYX. This old behaviour can be enabled by passing the option 'zyx'