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rpy2r

Roll-pitch-yaw angles to rotation matrix

R = rpy2r(roll, pitch, yaw, options) is an SO(3) orthonornal rotation matrix (3x3) 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 (3x3xN), where the last index corresponds to rows of roll, pitch, yaw.

R = rpy2r(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 (3x3xN), where the last index corresponds to rows of rpy which are assumed to be [roll,pitch,yaw].

Options

'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)

Note

See also

tr2rpy, eul2tr


 

© 1990-2014 Peter Corke.