- Library
- Description
- Default Properties
- Interfacing Function
- Computational Function (type 5)
- See Also
- Bibliography

Robotics

Return a homogeneous transformation for the roll/pitch/yaw angles (in radians) given as input. These correspond to rotations about the Z, Y and X axes respectively.

The number of inputs to this block is three and all inputs are regular inputs.
The first input is the `roll` angle, i.e. a rotation about the Z-axis of current reference frame.
The second input is the `pitch` angle, i.e. a rotation about the Y-axis of current reference frame.
The third input is the `yaw` angle, i.e. a rotation about the X-axis of current reference frame.

This block has one regular output.

- always active:
**no** - direct-feedthrough:
**yes** - zero-crossing:
**no** - mode:
**no** - number/sizes of inputs:
**3 / [1,1], [1,1], [1,1]** - number/sizes of activation inputs:
**0 /** - number/sizes of outputs:
**1 / [4,4]** - number/sizes of activation outputs:
**0 /** - continuous-time state:
**no** - discrete-time state:
**no** - name of computational function:
**rt_rpy2tr_cf5**

<PATH>/macros/rt_rpy2tr_if.sci[view code]

<PATH>/macros/rt_rpy2tr_cf5.sci[view code]

` rt_eul2tr_if`,

Corke, P.I. "A Robotics Toolbox for MATLAB", *IEEE Robotics and Automation Magazine*, Volume 3(1), March 1996, pp. 24-32