M-File Help: rpy2r | View code for 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 X, Y, Z 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 angles angles are taken from consecutive columns of the passed matrix rpy = [roll, pitch, yaw]. If rpy is a matrix (Nx3) then they are assumed to represent a trajectory and R is a three-dimensional matrix (3x3xN), where the last index corresponds to rows of rpy which are assumed to be [roll, pitch, yaw].
'deg' | Compute angles in degrees (radians default) |
'zyx' | Return solution for sequential rotations about Z, Y, X axes (Paul book) |
© 1990-2014 Peter Corke.