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Subsections

irpy

Syntax

ReturnMatrix irpy(const Matrix & R);

Description

Given a homogeneous transform matrix R, this function returns a column vector
$\displaystyle \left[\begin{array}{c} \alpha   \beta   \gamma \end{array}\right]$     (2.7)

such that the $3 \times 3$ rotation bloc of the matrix
$\displaystyle \mbox{\boldmath$ Rot $}(z,\gamma) \mbox{\boldmath$ Rot $}(y,\beta) \mbox{\boldmath$ Rot $}(x,\alpha)$     (2.8)

is equal to the $3 \times 3$ rotation bloc of the matrix R.

Return Value

ColumnVector.



Richard Gourdeau 2004-07-06