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47 lines
1.5 KiB
47 lines
1.5 KiB
%RPY2JAC Jacobian from RPY angle rates to angular velocity
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%
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% J = RPY2JAC(EUL) is a Jacobian matrix (3x3) that maps roll-pitch-yaw angle
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% rates to angular velocity at the operating point RPY=[R,P,Y].
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%
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% J = RPY2JAC(R, P, Y) as above but the roll-pitch-yaw angles are passed
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% as separate arguments.
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%
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% Notes::
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% - Used in the creation of an analytical Jacobian.
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%
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% See also EUL2JAC, SerialLink.JACOBN.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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function J = rpy2jac(r, p, y)
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if length(r) == 3
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% rpy2jac([r,p,y])
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p = r(2);
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y = r(3);
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r = r(1);
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elseif nargin ~= 3
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error('RTB:rpy2jac:badarg', 'bad arguments');
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end
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J = [
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1 0 sin(p)
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0 cos(r) -cos(p)*sin(r)
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0 sin(r) cos(p)*cos(r)
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];
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