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%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 % Copyright (C) 1993-2008, by Peter I. Corke % % This file is part of The Robotics Toolbox for Matlab (RTB). % % RTB is free software: you can redistribute it and/or modify % it under the terms of the GNU Lesser General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % RTB is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU Lesser General Public License for more details. % % You should have received a copy of the GNU Leser General Public License % along with RTB. If not, see <http://www.gnu.org/licenses/>. function T = rpy2tr(roll, pitch, yaw) if (nargin == 1), if numcols(roll) ~= 3, error('bad arguments') end pitch = roll(:,2); yaw = roll(:,3); roll = roll(:,1); end if numrows(roll) == 1, r = rotx(roll) * roty(pitch) * rotz(yaw); T = r2t(r); else for i=1:numrows(roll), r = rotx(roll(i)) * roty(pitch(i)) * rotz(yaw(i)); T(:,:,i) = r2t(r); end end