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ReturnMatrix rpy(const ColumnVector & a);
Given a column vector a
![$\displaystyle \left[\begin{array}{c} \alpha \beta \gamma \end{array}\right]$](img10.gif) |
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(2.10) |
this function returns the homogeneous transform matrix given by
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(2.11) |
Note: the column vector a must have a length of at least 3.
Only the first 3 elements are used.
Matrix
Richard Gourdeau
2004-07-06