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Subsections

rpy

Syntax

ReturnMatrix rpy(const ColumnVector & a);

Description

Given a column vector a
$\displaystyle \left[\begin{array}{c} \alpha   \beta   \gamma \end{array}\right]$     (2.10)

this function returns the homogeneous transform matrix given by
$\displaystyle \mbox{\boldmath$ Rot $}(z,\gamma) \mbox{\boldmath$ Rot $}(y,\beta) \mbox{\boldmath$ Rot $}(x,\alpha)$     (2.11)

Note: the column vector a must have a length of at least 3. Only the first 3 elements are used.

Return Value

Matrix



Richard Gourdeau 2004-07-06