skrobot.coordinates.math.rotation_matrix_from_rpy¶

skrobot.coordinates.math.rotation_matrix_from_rpy(rpy)[source]¶

Returns Rotation matrix from yaw-pitch-roll angles.

Parameters:: rpy (numpy.ndarray or list) – Vector of yaw-pitch-roll angles in radian.
Returns:: rot – 3x3 rotation matrix
Return type:: numpy.ndarray

Examples

>>> import numpy as np
>>> from skrobot.coordinates.math import rotation_matrix_from_rpy
>>> rotation_matrix_from_rpy([0, np.pi / 3, 0])
array([[ 0.5      ,  0.       ,  0.8660254],
       [ 0.       ,  1.       ,  0.       ],
       [-0.8660254,  0.       ,  0.5      ]])