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rpy2r

PURPOSE ^

RPY2R Roll/pitch/yaw to rotation matrix

SYNOPSIS ^

function r = rpy2r(roll, pitch, yaw)

DESCRIPTION ^

RPY2R Roll/pitch/yaw to rotation matrix

     R = RPY2R([R P Y])
    R = RPY2R(R,P,Y)

 Returns a 3x3 rotation matrix for the specified roll/pitch/yaw angles.
 These correspond to rotations about the X, Y, Z axes respectively.

 NOTE: in previous releases (<8) the angles corresponded to rotations about Z, Y, X.

 See also: TR2RPY, EUL2TR

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %RPY2R Roll/pitch/yaw to rotation matrix
0002 %
0003 %     R = RPY2R([R P Y])
0004 %    R = RPY2R(R,P,Y)
0005 %
0006 % Returns a 3x3 rotation matrix for the specified roll/pitch/yaw angles.
0007 % These correspond to rotations about the X, Y, Z axes respectively.
0008 %
0009 % NOTE: in previous releases (<8) the angles corresponded to rotations about Z, Y, X.
0010 %
0011 % See also: TR2RPY, EUL2TR
0012 
0013 % Copyright (C) 1993-2008, by Peter I. Corke
0014 %
0015 % This file is part of The Robotics Toolbox for Matlab (RTB).
0016 %
0017 % RTB is free software: you can redistribute it and/or modify
0018 % it under the terms of the GNU Lesser General Public License as published by
0019 % the Free Software Foundation, either version 3 of the License, or
0020 % (at your option) any later version.
0021 %
0022 % RTB is distributed in the hope that it will be useful,
0023 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0024 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0025 % GNU Lesser General Public License for more details.
0026 %
0027 % You should have received a copy of the GNU Leser General Public License
0028 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0029 
0030 function r = rpy2r(roll, pitch, yaw)
0031     if (nargin == 1),
0032         if numcols(roll) ~= 3,
0033             error('bad arguments')
0034         end
0035         pitch = roll(:,2);
0036         yaw = roll(:,3);
0037         roll = roll(:,1);
0038     end
0039 
0040     if numrows(roll) == 1,
0041         r = rotx(roll) * roty(pitch) * rotz(yaw);
0042     else
0043         for i=1:numrows(roll),
0044             r(:,:,i) = rotx(roll(i)) * roty(pitch(i)) * rotz(yaw(i));
0045         end
0046     end

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