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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of rpy2tr</title> <meta name="keywords" content="rpy2tr"> <meta name="description" content="RPY2TR Roll/pitch/yaw to homogenous transform"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="./m2html.css"></head><body><a name="_top"></a><div><a href="./index.html">Home</a> > <a href="index.html">.</a> > rpy2tr.m</div><!--<table width="100%"><tr><td align="left"><a href="./index.html"><img alt="<" border="0" src="./left.png"> Master index</a></td><td align="right"><a href="index.html">Index for . <img alt=">" border="0" src="./right.png"></a></td></tr></table>--><h1>rpy2tr</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>RPY2TR Roll/pitch/yaw to homogenous transform</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>function T = rpy2tr(roll, pitch, yaw) </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre class="comment">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: <a href="tr2rpy.html" class="code" title="function rpy = tr2rpy(m)">TR2RPY</a>, <a href="eul2tr.html" class="code" title="function T = eul2tr(phi, theta, psi)">EUL2TR</a></pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2>This function calls:<ul style="list-style-image:url(./matlabicon.gif)"><li><a href="numcols.html" class="code" title="function c = numcols(m)">numcols</a> NUMCOLS(m)</li><li><a href="numrows.html" class="code" title="function r = numrows(m)">numrows</a> NUMROWS(m)</li><li><a href="r2t.html" class="code" title="function T = r2t(R)">r2t</a> R2T Return a homogeneous transformation from a rotation</li><li><a href="rotx.html" class="code" title="function r = rotx(t)">rotx</a> ROTX Rotation about X axis</li><li><a href="roty.html" class="code" title="function r = roty(t)">roty</a> ROTY Rotation about Y axis</li><li><a href="rotz.html" class="code" title="function r = rotz(t)">rotz</a> ROTZ Rotation about Z axis</li></ul>This function is called by:<ul style="list-style-image:url(./matlabicon.gif)"></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">%RPY2TR Roll/pitch/yaw to homogenous transform</span>0002 <span class="comment">%</span>0003 <span class="comment">% TR = RPY2TR([R P Y])</span>0004 <span class="comment">% TR = RPY2TR(R,P,Y)</span>0005 <span class="comment">%</span>0006 <span class="comment">% Returns a homogeneous tranformation for the specified roll/pitch/yaw angles.</span>0007 <span class="comment">% These correspond to rotations about the X, Y, Z axes respectively, applied</span>0008 <span class="comment">% in the order yaw, pitch, roll.</span>0009 <span class="comment">%</span>0010 <span class="comment">% NOTE: in previous releases (<8) the angles corresponded to rotations about Z, Y, X.</span>0011 <span class="comment">%</span>0012 <span class="comment">% See also: TR2RPY, EUL2TR</span>0013 0014 <span class="comment">% Copyright (C) 1993-2008, by Peter I. Corke</span>0015 <span class="comment">%</span>0016 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0017 <span class="comment">%</span>0018 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0019 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0020 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0021 <span class="comment">% (at your option) any later version.</span>0022 <span class="comment">%</span>0023 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0024 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0025 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0026 <span class="comment">% GNU Lesser General Public License for more details.</span>0027 <span class="comment">%</span>0028 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0029 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0030 0031 <a name="_sub0" href="#_subfunctions" class="code">function T = rpy2tr(roll, pitch, yaw)</a>0032 <span class="keyword">if</span> (nargin == 1),0033 <span class="keyword">if</span> <a href="numcols.html" class="code" title="function c = numcols(m)">numcols</a>(roll) ~= 3,0034 error(<span class="string">'bad arguments'</span>)0035 <span class="keyword">end</span>0036 pitch = roll(:,2);0037 yaw = roll(:,3);0038 roll = roll(:,1);0039 <span class="keyword">end</span>0040 0041 <span class="keyword">if</span> <a href="numrows.html" class="code" title="function r = numrows(m)">numrows</a>(roll) == 1,0042 r = <a href="rotx.html" class="code" title="function r = rotx(t)">rotx</a>(roll) * <a href="roty.html" class="code" title="function r = roty(t)">roty</a>(pitch) * <a href="rotz.html" class="code" title="function r = rotz(t)">rotz</a>(yaw);0043 T = <a href="r2t.html" class="code" title="function T = r2t(R)">r2t</a>(r);0044 <span class="keyword">else</span>0045 <span class="keyword">for</span> i=1:<a href="numrows.html" class="code" title="function r = numrows(m)">numrows</a>(roll),0046 r = <a href="rotx.html" class="code" title="function r = rotx(t)">rotx</a>(roll(i)) * <a href="roty.html" class="code" title="function r = roty(t)">roty</a>(pitch(i)) * <a href="rotz.html" class="code" title="function r = rotz(t)">rotz</a>(yaw(i));0047 T(:,:,i) = <a href="r2t.html" class="code" title="function T = r2t(R)">r2t</a>(r);0048 <span class="keyword">end</span>0049 <span class="keyword">end</span></pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>⌨️ 快捷键说明
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