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rpy2tr

Roll-pitch-yaw angles to homogeneous transform

Calling Sequence

T = rpy2tr(RPY, OPTIONS)
T = rpy2tr(ROLL, PITCH, YAW, OPTIONS)

Description

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.

Options

'deg' :

Compute angles in degrees (radians default)

'zyx' :

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

Notes

See also

Authors


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