Consider an aerospace application where the world reference coordinate frame {W} and a body-fixed coordinate frame {B}. The origins of {W} and {B} are coincident. The orientation of {B} is described in terms of roll-pitch-yaw angles defined as a sequence of rotations where yaw is about the Z, pitch is about the Y axis and roll is about the X axis.
Given an SO(3) rotation matrix describing the orientation of {B} with respect to {W} determine the roll-pitch-yaw angles.
Solution Stats
Problem Comments
Solution Comments
Show commentsProblem Recent Solvers8
Suggested Problems
-
9144 Solvers
-
Determine whether a vector is monotonically increasing
22873 Solvers
-
Create a cell array out of a struct
2418 Solvers
-
Rotate input square matrix 90 degrees CCW without rot90
681 Solvers
-
Number of odd and even elements within matrix
159 Solvers
More from this Author16
Problem Tags
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!
There is a flaw in the test suite. It tests the values in rpy2r rather than the results rpy from the solver's function. Also, the tolerance needs to be widened a bit.
Actually that's not a flaw, William. Since it is not always possible to determine the exact three original angles. In the second test case for instance, there are infinite solutions due to a singularity. Therefore, he tests the rotation matrix since it will be equal for all possible solutions.