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rpy2tr

Roll Pitch Yaw (RPY) angles to homogeneous transform

Calling Sequence

T = rpy2tr(ANG, OPTIONS)
T = rpy2tr(ALPHA, BETA, GAMMA, OPTIONS)

Parameters

OPTIONS = 'deg':

compute angles in degrees (radians default)

OPTIONS = 'zyx':

Return solution for sequential rotations about X, Y, Z fixed axes (RPY notation)

OPTIONS = 'c' :

Computes T by means of a compiled c-function (faster)

Description

T = RPY2TR(ANG, OPTIONS) is a homogeneous transformation equivalent to the specified alpha, beta, gamma angles which correspond to rotations about the X, Y, Z mobile axes respectively (Euler angles). If ANG 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 ANG.

T = RPY2TR(ALPHA, BETA, GAMMA, OPTIONS) as above but the roll-pitch-yaw angles are passed as separate arguments. If ALPHA, BETA, GAMMA 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 ALPHA, BETA, GAMMA.

Notes

See also

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