skrobot.coordinates.math.rpy2matrix

skrobot.coordinates.math.rpy2matrix(roll, pitch, yaw)[source]

Create rotation matrix from roll, pitch, yaw angles.

This function takes parameters in roll-pitch-yaw order (X-Y-Z rotation order), which is more intuitive for many applications. The rotation is applied as: roll around X, then pitch around Y, then yaw around Z.

Parameters:

roll (float) – Rotation around X-axis in radians
pitch (float) – Rotation around Y-axis in radians
yaw (float) – Rotation around Z-axis in radians

Returns:

matrix – 3x3 rotation matrix

Return type:

numpy.ndarray

Examples

>>> import numpy as np
>>> from skrobot.coordinates.math import rpy2matrix, matrix2rpy
>>> roll, pitch, yaw = np.pi/3, np.pi/4, np.pi/6
>>> rot = rpy2matrix(roll, pitch, yaw)
>>> recovered = matrix2rpy(rot)
>>> np.allclose(recovered, [roll, pitch, yaw])
True

# Verify rotation order: X then Y then Z >>> # Pure rotations should work correctly >>> rot_x = rpy2matrix(np.pi/2, 0, 0) >>> rot_y = rpy2matrix(0, np.pi/2, 0) >>> rot_z = rpy2matrix(0, 0, np.pi/2)