Difference between revisions of "Roll-Pitch-Yaw"
From Robotics
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&= | &= | ||
\left[\begin{array}{cccc} | \left[\begin{array}{cccc} | ||
− | 0. | + | 0.8138 & -0.4698 & 0.3420 & 0\\ |
− | 0. | + | -0.2397 & 0.8075 & -0.5390 & 0\\ |
− | -0.5294 & | + | -0.5294 & 0.3566 & 0.7698 & 0\\ |
0 & 0 & 0 & 1 | 0 & 0 & 0 & 1 | ||
\end{array}\right] | \end{array}\right] |
Revision as of 15:03, 7 May 2015
← Back: Three-Angle Representations | Overview: Three-Angle Representations | Next: Euler angles → |
The roll, pitch and yaw angles are three angles defined in regard of absolute transformation to describe the orientation of an object, generally vehicles, in three-dimensional space. In the following the common convention will be used, so the three angles can be described as follows (in the order they are applied):
- Yaw: Rotation around the vertical axis of the object or vehicle, respectively
- Pitch: Rotation around the lateral axis
- Roll: Rotation around the longitudinal axis (what is generally the movement axis of a vehicle)
There are different notations to define the axes of an object. Usually and in recent publications the vertical axis is the z-axis, the longitudal axis is x and then the lateral axis is the y-axis and directed to the left.
So the roll-pitch-yaw transformation matrix of the orientation is defined as follows:
Example: Orientation of a car
Then the rotation matrix results as: |