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rpy2r

Roll-pitch-yaw angles to rotation matrix

Calling Sequence

R = rpy2r(RPY, OPTIONS)
R = rpy2r(ROLL, PITCH, YAW, OPTIONS)

Description

R = RPY2R(RPY, OPTIONS) is an orthonormal rotation matrix 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 R is a three dimensional matrix, where the last index corresponds to the rows of RPY.

R = RPY2R(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 R is a three dimensional matrix, where the last index corresponds to the rows of ROLL, PITCH, YAW.

OPTIONS

"deg" :

Compute angles in degrees (radians default)

"zyx" :

Return solution for sequential rotations about Z, Y, X axes (Paul book)

Notes

See also

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