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rpy2jac

Jacobian from RPY angle rates to angular velocity

J = rpy2jac(rpy, options) is a Jacobian matrix (3x3) that maps ZYX roll-pitch-yaw angle rates to angular velocity at the operating point rpy=[R,P,Y].

J = rpy2jac(R, p, y, options) as above but the roll-pitch-yaw angles are passed as separate arguments.

Options

'xyz' Use XYZ roll-pitch-yaw angles
'yxz' Use YXZ roll-pitch-yaw angles

Notes

See also

eul2jac, SerialLink.JACOBE


 

© 1990-2014 Peter Corke.