Scilab Function
Last update : April 2007

rt_rpy2tr - Roll/pitch/yaw angles to homogeneous transform[view code]

Calling Sequence

T = rt_rpy2tr(r, p, y)
T = rt_rpy2tr(RPY)



Return a homogeneous transformation for the specified roll/pitch/yaw angles in radians. These correspond to rotations about the Z, Y, X axes respectively.


   // The following example shows how rt_rpy2tr() can be used to generate
   // a homogeneous transform for specified roll/pitch/yaw angles in a
   // direct approach.

   // roll/pitch/yaw angles
   roll = %pi/6;
   pitch = %pi/4;
   yaw = -2/5*%pi;

   // corresponding homogeneous matrix obtained
   // by compounded transforms
   T1 = rt_rotz(roll) * rt_roty(pitch) * rt_rotx(yaw),

   // by using rt_rpy2tr() (direct approach)
   T2 = rt_rpy2tr(roll, pitch, yaw),


See Also

rt_tr2rpy,  rt_eul2tr,  


original Matlab version by

Peter I. Corke CSIRO Manufacturing Science and Technology

Scilab implementation by

Matteo Morelli Interdepartmental Research Center "E. Piaggio", University of Pisa


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

R. P. Paul, Robot Manipulators: Mathematics, Programming and Control. Cambridge, Massachusetts: MIT Press, 1981.

Get the Robotics Toolbox for Scilab/Scicos at Fast, secure and Free Open Source software downloads