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

rt_rpy2tr_if

Library

Robotics

Description

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.

Default Properties

• 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

Interfacing Function

<PATH>/macros/rt_rpy2tr_if.sci

Computational Function (type 5)

<PATH>/macros/rt_rpy2tr_cf5.sci

See Also

rt_eul2tr_if,  rt_tr2rpy_if,  rt_rpy2tr,  

Bibliography

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