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