def RPY(cls, angles, *, order='zyx', unit='rad'):
"""
Create an SO(3) rotation from roll-pitch-yaw angles
:param angles: 3-vector of roll-pitch-yaw angles
:type angles: array_like or numpy.ndarray with shape=(N,3)
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:param unit: rotation order: 'zyx' [default], 'xyz', or 'yxz'
:type unit: str
:return: 3x3 rotation matrix
:rtype: SO3 instance
``SO3.RPY(angles)`` is an SO(3) rotation defined by a 3-vector of roll, pitch, yaw angles :math:`(r, p, y)`
which correspond to successive rotations about the axes specified by ``order``:
- 'zyx' [default], rotate by yaw about the z-axis, then by pitch about the new y-axis,
then by roll about the new x-axis. Convention for a mobile robot with x-axis forward
and y-axis sideways.
- 'xyz', rotate by yaw about the x-axis, then by pitch about the new y-axis,
then by roll about the new z-axis. Covention for a robot gripper with z-axis forward
and y-axis between the gripper fingers.
- 'yxz', rotate by yaw about the y-axis, then by pitch about the new x-axis,
then by roll about the new z-axis. Convention for a camera with z-axis parallel
to the optic axis and x-axis parallel to the pixel rows.
If ``angles`` is an Nx3 matrix then the result is a sequence of rotations each defined by RPY angles
correponding to the rows of angles.
:seealso: :func:`~spatialmath.pose3d.SE3.rpy`, :func:`~spatialmath.pose3d.SE3.RPY`, :func:`spatialmath.base.transforms3d.rpy2r`
"""
if argcheck.isvector(angles, 3):
return cls(tr.rpy2r(angles, order=order, unit=unit))
else:
return cls([tr.rpy2r(a, order=order, unit=unit) for a in angles])
def RPY(cls, *angles, unit='rad', order='zyx', ):
r"""
Construct a new SO(3) from roll-pitch-yaw angles
:param angles: roll-pitch-yaw angles
:type angles: array_like(3), array_like(n,3)
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:param order: rotation order: 'zyx' [default], 'xyz', or 'yxz'
:type order: str
:return: SO(3) rotation
:rtype: SO3 instance
- ``SO3.RPY(angles)`` is an SO(3) rotation defined by a 3-vector of
roll, pitch, yaw angles :math:`(\alpha, \beta, \gamma)`. If ``angles``
is an Nx3 matrix then the result is a sequence of rotations each
defined by RPY angles corresponding to the rows of angles. The angles
correspond to successive rotations about the axes specified by
``order``:
- ``'zyx'`` [default], rotate by yaw about the z-axis, then by pitch about the new y-axis,
then by roll about the new x-axis. Convention for a mobile robot with x-axis forward
and y-axis sideways.
- ``'xyz'``, rotate by yaw about the x-axis, then by pitch about the new y-axis,
then by roll about the new z-axis. Convention for a robot gripper with z-axis forward
and y-axis between the gripper fingers.
- ``'yxz'``, rotate by yaw about the y-axis, then by pitch about the new x-axis,
then by roll about the new z-axis. Convention for a camera with z-axis parallel
to the optic axis and x-axis parallel to the pixel rows.
- ``SO3.RPY(⍺, β, 𝛾)`` as above but the angles are provided as three
scalars.
Example:
.. runblock:: pycon
>>> from spatialmath import SO3
>>> SO3.RPY(0.1, 0.2, 0.3)
>>> SO3.RPY([0.1, 0.2, 0.3])
>>> SO3.RPY(0.1, 0.2, 0.3, order='xyz')
>>> SO3.RPY(10, 20, 30, 'deg')
:seealso: :func:`~spatialmath.pose3d.SE3.rpy`, :func:`~spatialmath.pose3d.SE3.RPY`, :func:`spatialmath.base.transforms3d.rpy2r`
"""
if len(angles) == 1:
angles = angles[0]
# angles = base.getmatrix(angles, (None, 3))
# return cls(base.rpy2r(angles, order=order, unit=unit), check=False)
if base.isvector(angles, 3):
return cls(base.rpy2r(angles, unit=unit, order=order), check=False)
else:
return cls([base.rpy2r(a, unit=unit, order=order) for a in angles], check=False)
def RPY(cls, angles, *, order='zyx', unit='rad'):
"""
Create an SO(3) rotation from roll-pitch-yaw angles
:param angles: 3-vector of roll-pitch-yaw angles
:type angles: array_like
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:param unit: rotation order: 'zyx' [default], 'xyz', or 'yxz'
:type unit: str
:return: 3x3 rotation matrix
:rtype: SO3 instance
``SO3.RPY(ANGLES)`` is an SO(3) rotation defined by a 3-vector of roll, pitch, yaw angles :math:`(r, p, y)`
which correspond to successive rotations about the axes specified by ``order``:
- 'zyx' [default], rotate by yaw about the z-axis, then by pitch about the new y-axis,
then by roll about the new x-axis. Convention for a mobile robot with x-axis forward
and y-axis sideways.
- 'xyz', rotate by yaw about the x-axis, then by pitch about the new y-axis,
then by roll about the new z-axis. Covention for a robot gripper with z-axis forward
and y-axis between the gripper fingers.
- 'yxz', rotate by yaw about the y-axis, then by pitch about the new x-axis,
then by roll about the new z-axis. Convention for a camera with z-axis parallel
to the optic axis and x-axis parallel to the pixel rows.
:seealso: :func:`~spatialmath.pose3d.SE3.rpy`, :func:`~spatialmath.pose3d.SE3.RPY`, :func:`spatialmath.base.transforms3d.rpy2r`
"""
return cls(quat.r2q(tr.rpy2r(angles, unit=unit, order=order)),
check=False)
