rpyToTrsf(3)

NAME
rpyToTrsf, multTrsfRpy, trsfToRpy -- RCCL routines for specifying rotations with roll-pitch-yaw angles.

USAGE
#include <robotTypes.h>    /* included as part of <rccl.h> */

TRSF *rpyToTrsf (tr, roll, pitch, yaw)
  TRSF *tr;
  float roll, pitch, yaw;

TRSF *multTrsfRpy (tr, roll, pitch, yaw)
  TRSF *tr;
  float roll, pitch, yaw;

trsfToRpy (roll, pitch, yaw, tr)
  float *roll, *pitch, *yaw;
  TRSF *tr;

ARGUMENTS

tr --
    Result (and possibly input) transform.

roll, pitch, yaw --
    Rotation angles, in degrees. These arguments are result pointers in the case of trsfToRpy().

DESCRIPTION
The routine rpyToTrsf() sets the rotational part of "tr" as specified by the indicated angles. This is equal to a rotation of yaw degrees about the x axis, a rotation of pitch degrees about the original y axis, and a rotation of roll degrees about the original z axis (in that order). This is also equivalent to a rotation of roll degrees about the z axis, a rotation of pitch degrees about the new y axis, and a rotation of yaw degrees about the new x axis.

The routine multTrsfRpy() post-multiplies (in place) "tr" by the specified rotation.

Each of the above routines returns a pointer to "tr".

The routine trsfToRpy() returns the roll-pitch-yaw angles which correspond to the rotational part of "tr". If the angle representation is not unique, then the value of "roll" is arbitarily set to 0.

SEE ALSO
xyzToTrsf(3), multTrsf(3), vaoToTrsf(3), rotToTrsf(3), eulToTrsf(3).