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Roll-pitch-yaw angles to homogeneous transform
T = rpy2tr(roll, pitch, yaw, options) is an SE(3) homogeneous transformation matrix (4x4) with zero translation and rotation equivalent to the specified roll, pitch, yaw angles angles. These correspond to rotations about the Z, Y, X axes respectively. If roll, pitch, yaw are column vectors (Nx1) then they are assumed to represent a trajectory and R is a three-dimensional matrix (4x4xN), where the last index corresponds to rows of roll, pitch, yaw.
T = rpy2tr(rpy, options) as above but the roll, pitch, yaw angles are taken from the vector (1x3) rpy=[roll,pitch,yaw]. If rpy is a matrix (Nx3) then R is a three-dimensional matrix (4x4xN), where the last index corresponds to rows of rpy which are assumed to be roll,pitch,yaw].
'deg' | Compute angles in degrees (radians default) |
'xyz' | Rotations about X, Y, Z axes (for a robot gripper) |
'zyx' | Rotations about Z, Y, X axes (for a mobile robot, default) |
'yxz' | Rotations about Y, X, Z axes (for a camera) |
'arm' | Rotations about X, Y, Z axes (for a robot arm) |
'vehicle' Rotations about Z, Y, X axes (for a mobile robot)
'camera' | Rotations about Y, X, Z axes (for a camera) |
© 1990-2014 Peter Corke.