RPY2TR Roll/pitch/yaw to homogenous transform TR = RPY2TR([R P Y]) TR = RPY2TR(R,P,Y) Returns a homogeneous tranformation for the specified roll/pitch/yaw angles. These correspond to rotations about the X, Y, Z axes respectively, applied in the order yaw, pitch, roll. NOTE: in previous releases (<8) the angles corresponded to rotations about Z, Y, X. See also: TR2RPY, EUL2TR
0001 %RPY2TR Roll/pitch/yaw to homogenous transform 0002 % 0003 % TR = RPY2TR([R P Y]) 0004 % TR = RPY2TR(R,P,Y) 0005 % 0006 % Returns a homogeneous tranformation for the specified roll/pitch/yaw angles. 0007 % These correspond to rotations about the X, Y, Z axes respectively, applied 0008 % in the order yaw, pitch, roll. 0009 % 0010 % NOTE: in previous releases (<8) the angles corresponded to rotations about Z, Y, X. 0011 % 0012 % See also: TR2RPY, EUL2TR 0013 0014 % Copyright (C) 1993-2008, by Peter I. Corke 0015 % 0016 % This file is part of The Robotics Toolbox for Matlab (RTB). 0017 % 0018 % RTB is free software: you can redistribute it and/or modify 0019 % it under the terms of the GNU Lesser General Public License as published by 0020 % the Free Software Foundation, either version 3 of the License, or 0021 % (at your option) any later version. 0022 % 0023 % RTB is distributed in the hope that it will be useful, 0024 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0025 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0026 % GNU Lesser General Public License for more details. 0027 % 0028 % You should have received a copy of the GNU Leser General Public License 0029 % along with RTB. If not, see <http://www.gnu.org/licenses/>. 0030 0031 function T = rpy2tr(roll, pitch, yaw) 0032 if (nargin == 1), 0033 if numcols(roll) ~= 3, 0034 error('bad arguments') 0035 end 0036 pitch = roll(:,2); 0037 yaw = roll(:,3); 0038 roll = roll(:,1); 0039 end 0040 0041 if numrows(roll) == 1, 0042 r = rotx(roll) * roty(pitch) * rotz(yaw); 0043 T = r2t(r); 0044 else 0045 for i=1:numrows(roll), 0046 r = rotx(roll(i)) * roty(pitch(i)) * rotz(yaw(i)); 0047 T(:,:,i) = r2t(r); 0048 end 0049 end