skrobot.coordinates.math.rpy_angle

skrobot.coordinates.math.rpy_angle(matrix)

Decomposing a rotation matrix to yaw-pitch-roll.

Parameters:

matrix (list or numpy.ndarray) – 3x3 rotation matrix

Returns:

rpy – pair of rpy in yaw-pitch-roll order.

Return type:

tuple(numpy.ndarray, numpy.ndarray)

Examples

>>> import numpy as np
>>> from skrobot.coordinates.math import rpy_matrix
>>> from skrobot.coordinates.math import rpy_angle
>>> yaw = np.pi / 2.0
>>> pitch = np.pi / 3.0
>>> roll = np.pi / 6.0
>>> rot = rpy_matrix(yaw, pitch, roll)
>>> rpy_angle(rot)
(array([1.57079633, 1.04719755, 0.52359878]),
 array([ 4.71238898,  2.0943951 , -2.61799388]))