skrobot.coordinates.math.matrix2ypr

skrobot.coordinates.math.matrix2ypr(matrix)

Convert rotation matrix to yaw-pitch-roll angles.

This function extracts yaw, pitch, roll angles from a rotation matrix.

Parameters:

matrix (numpy.ndarray) – 3x3 rotation matrix

Returns:

angles – Array of [yaw, pitch, roll] angles in radians - yaw: rotation around Z-axis - pitch: rotation around Y-axis - roll: rotation around X-axis

Return type:

numpy.ndarray

Examples

>>> import numpy as np
>>> from skrobot.coordinates.math import ypr2matrix, matrix2ypr
>>> yaw, pitch, roll = np.pi/6, np.pi/4, np.pi/3
>>> rot = ypr2matrix(yaw, pitch, roll)
>>> angles = matrix2ypr(rot)
>>> np.allclose(angles, [yaw, pitch, roll])
True
>>> print("Yaw: {:.3f}, Pitch: {:.3f}, Roll: {:.3f}".format(angles[0], angles[1], angles[2]))
Yaw: 0.524, Pitch: 0.785, Roll: 1.047