def rpy(self, unit='rad', order='zyx'):
"""
SO(3) or SE(3) as roll-pitch-yaw angles
:param order: angle sequence order, default to 'zyx'
:type order: str
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:return: 3-vector of roll-pitch-yaw angles
:rtype: numpy.ndarray, shape=(3,)
``x.rpy`` is the roll-pitch-yaw angle representation of the rotation. The angles are
a 3-vector :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. 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.
If `len(x)` is:
- 1, return an ndarray with shape=(3,)
- N>1, return ndarray with shape=(N,3)
:seealso: :func:`~spatialmath.pose3d.SE3.RPY`, :func:`~spatialmath.base.transforms3d.tr2rpy`
:SymPy: not supported
"""
if len(self) == 1:
return base.tr2rpy(self.A, unit=unit, order=order)
else:
return np.array(
[base.tr2rpy(x, unit=unit, order=order) for x in self.A]).T
def rpy(self, unit='deg', order='zyx'):
"""
Extract roll-pitch-yaw angles from SO(3) rotation
:param self: rotation or pose
:type angles: SO3, SE3 instance
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:return: 3-vector of roll-pitch-yaw angles
:rtype: numpy.ndarray, shape=(3,)
``R.rpy`` is the roll-pitch-yaw angle representation of the rotation. The angles are
a 3-vector :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.
``R.rpy`` returns an:
- ndarray with shape=(3,), if len(R) == 1
- ndarray with shape=(N,3), if len(R) = N > 1
:seealso: :func:`~spatialmath.pose3d.SE3.RPY`, ::func:`spatialmath.base.transforms3d.tr2rpy`
"""
if len(self) == 1:
return tr.tr2rpy(self.A, unit=unit)
else:
return np.array([tr.tr2rpy(x, unit=unit) for x in self.A]).T
def rpy(self, unit='rad', order='zyx'):
return tr.tr2rpy(self.R, unit=unit, order=order)