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RPY2T

RPY2T

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Description

Return a homogeneous transformation for the roll/pitch/yaw angles (in radians) given as input. These correspond to rotations about the X, Y and Z fixed axes respectively. The rotation matrix is evaluated as follows

R = Rz(ROLL)*Ry(PITCH)*Rx(YAW)

The number of inputs to this block is three and all inputs are regular inputs. The first input is the roll angle, i.e. a rotation about the Z-axis of the fixed reference frame. The second input is the pitch angle, i.e. a rotation about the Y-axis of the fixed reference frame. The third input is the yaw angle, i.e. a rotation about the X-axis of the fixed reference frame.

Interfacing function

Computational function

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