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

rt_tr2rpy_if

Library

Robotics

Description

Return the roll/pitch/yaw angles, in radians, corresponding to the rotational part of the homogeneous transform given as input.

This block has one regular input.

The number of outputs to this block is three and all outputs are regular outputs. The first output is the roll angle, the second is the pitch angle and the third output is the yaw angle.

Default Properties

• always active:no
• direct-feedthrough:yes
• zero-crossing:no
• mode:no
• number/sizes of inputs:1 / [4,4]
• number/sizes of activation inputs:0 /
• number/sizes of outputs:3 / [1,1], [1,1], [1,1]
• number/sizes of activation outputs:0 /
• continuous-time state:no
• discrete-time state:no
• name of computational function:rt_tr2rpy_cf5

Interfacing Function

<PATH>/macros/rt_tr2rpy_if.sci

Computational Function (type 5)

<PATH>/macros/rt_tr2rpy_cf5.sci

See Also

rt_rpy2tr_if,  rt_tr2eul_if,  rt_tr2rpy,  

Bibliography

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