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# tr2rpy

Convert a homogeneous transform to roll-pitch-yaw angles

rpy = tr2rpy(T, options) are the roll-pitch-yaw angles expressed as a row vector corresponding to the rotation part of a homogeneous transform T. The 3 angles rpy=[R,P,Y] correspond to sequential rotations about the X, Y and Z axes respectively.

rpy = tr2rpy(R, options) are the roll-pitch-yaw angles expressed as a row vector corresponding to the orthonormal rotation matrix R.

If R or T represents a trajectory (has 3 dimensions), then each row of rpy corresponds to a step of the trajectory.

## Options

'deg' | Compute angles in degrees (radians default)
'zyx' | Return solution for sequential rotations about Z, Y, X axes (Paul book)

## Notes

- There is a singularity for the case where P=pi/2 in which case R is arbitrarily set to zero and Y is the sum (R+Y).
- Note that textbooks (Paul, Spong) use the rotation order ZYX.

## See also

rpy2tr, tr2eul

© 1990-2014 Peter Corke.