Roll Pitch Yaw (RPY) angles to homogeneous transform
T = rpy2tr(ANG, OPTIONS) T = rpy2tr(ALPHA, BETA, GAMMA, OPTIONS)
compute angles in degrees (radians default)
Return solution for sequential rotations about X, Y, Z fixed axes (RPY notation)
Computes T by means of a compiled c-function (faster)
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.
If the standard call is used, input angles are handled as Euler angles and the rotation matrix is evaluated as follows
R = Rx(alpha)*Ry(beta)*Rz(gamma).
If OPTION = 'zyx' is used, input angles are handled as RPY angles where alpha=roll, beta=pitch, and gamma=yaw and the rotation matrix is evaluated as follows
R = Rz(alpha)*Ry(beta)*Rx(gamma).