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88 lines
2.9 KiB
88 lines
2.9 KiB
%RPY2R Roll-pitch-yaw angles to rotation matrix
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%
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% R = RPY2R(RPY, OPTIONS) is an orthonormal rotation matrix equivalent to the
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% specified roll, pitch, yaw angles which correspond to rotations about the
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% X, Y, Z axes respectively. If RPY has multiple rows they are assumed to
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% represent a trajectory and R is a three dimensional matrix, where the last index
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% corresponds to the rows of RPY.
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%
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% R = RPY2R(ROLL, PITCH, YAW, OPTIONS) as above but the roll-pitch-yaw angles
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% are passed as separate arguments. If ROLL, PITCH and YAW are column vectors
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% they are assumed to represent a trajectory and R is a three dimensional matrix,
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% where the last index corresponds to the rows of ROLL, PITCH, YAW.
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%
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% Options::
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% 'deg' Compute angles in degrees (radians default)
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% 'zyx' Return solution for sequential rotations about Z, Y, X axes (Paul book)
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%
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% Note::
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% - In previous releases (<8) the angles corresponded to rotations about ZYX. Many
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% texts (Paul, Spong) use the rotation order ZYX. This old behaviour can be enabled
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% by passing the option 'zyx'
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%
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% See also TR2RPY, EUL2TR.
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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 R = rpy2r(roll, varargin)
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opt.zyx = false;
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opt.deg = false;
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[opt,args] = tb_optparse(opt, varargin);
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% unpack the arguments
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if numcols(roll) == 3
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pitch = roll(:,2);
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yaw = roll(:,3);
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roll = roll(:,1);
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elseif nargin >= 3
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pitch = args{1};
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yaw = args{2};
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else
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error('bad arguments')
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end
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% optionally convert from degrees
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if opt.deg
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d2r = pi/180.0;
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roll = roll * d2r;
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pitch = pitch * d2r;
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yaw = yaw * d2r;
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end
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if ~opt.zyx
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% XYZ order
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if numrows(roll) == 1
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R = rotx(roll) * roty(pitch) * rotz(yaw);
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else
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R = zeros(3,3,numrows(roll));
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for i=1:numrows(roll)
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R(:,:,i) = rotx(roll(i)) * roty(pitch(i)) * rotz(yaw(i));
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end
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end
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else
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% old ZYX order (as per Paul book)
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if numrows(roll) == 1
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R = rotz(roll) * roty(pitch) * rotx(yaw);
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else
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R = zeros(3,3,numrows(roll));
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for i=1:numrows(roll)
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R(:,:,i) = rotz(roll(i)) * roty(pitch(i)) * rotx(yaw(i));
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end
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end
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end
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