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Robotics_Toolbox >> Robotics_Toolbox > tr2rpy

tr2rpy

Convert a homogeneous transform to roll-pitch-yaw angles

Calling Sequence

RPY = tr2rpy(T, options)
RPY = tr2rpy(R, options)

Description

RPY = TR2RPY(T, options) are the roll-pitch-yaw angles expressed as a row vector corresponding to the rotation part of a homogeneous transform T. The 3 angles RPY=[R,P,Y] correspond to sequential rotations about the X, Y and Z axes respectively.

RPY = TR2RPY(R, options) are the roll-pitch-yaw angles expressed as a row vector corresponding to the orthonormal rotation matrix R.

If R or T represents a trajectory (has 3 dimensions), then each row of RPY corresponds to a step of the trajectory.

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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