%RPY2TR Roll-pitch-yaw angles to SE(3) homogeneous transform

%

% T = RPY2TR(ROLL, PITCH, YAW, OPTIONS) is an SE(3) homogeneous

% transformation matrix (4x4) with zero translation and rotation equivalent

% to the specified roll, pitch, yaw angles angles. These correspond to

% rotations about the Z, Y, X axes respectively. If ROLL, PITCH, YAW are

% column vectors (Nx1) then they are assumed to represent a trajectory and

% R is a three-dimensional matrix (4x4xN), where the last index corresponds

% to rows of ROLL, PITCH, YAW.

%

% T = RPY2TR(RPY, OPTIONS) as above but the roll, pitch, yaw angles are

% taken from the vector (1x3) RPY=[ROLL,PITCH,YAW]. If RPY is a matrix

% (Nx3) then R is a three-dimensional matrix (4x4xN), where the last index

% corresponds to rows of RPY which are assumed to be

% ROLL,PITCH,YAW].

%

% Options::

% 'deg' Compute angles in degrees (radians default)

% 'xyz' Rotations about X, Y, Z axes (for a robot gripper)

% 'zyx' Rotations about Z, Y, X axes (for a mobile robot, default)

% 'yxz' Rotations about Y, X, Z axes (for a camera)

% 'arm' Rotations about X, Y, Z axes (for a robot arm)

% 'vehicle' Rotations about Z, Y, X axes (for a mobile robot)

% 'camera' Rotations about Y, X, Z axes (for a camera)

%

% Note::

% - Toolbox rel 8-9 has the reverse angle sequence as default.

% - ZYX order is appropriate for vehicles with direction of travel in the X

% direction. XYZ order is appropriate if direction of travel is in the Z

% direction.

% - 'arm', 'vehicle', 'camera' are synonyms for 'xyz', 'zyx' and 'yxz'

% respectively.

%

% See also TR2RPY, RPY2R, EUL2TR.

% Copyright (C) 1993-2019 Peter I. Corke

%

% This file is part of The Spatial Math Toolbox for MATLAB (SMTB).

%

% Permission is hereby granted, free of charge, to any person obtaining a copy

% of this software and associated documentation files (the "Software"), to deal

% in the Software without restriction, including without limitation the rights

% to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies

% of the Software, and to permit persons to whom the Software is furnished to do

% so, subject to the following conditions:

%

% The above copyright notice and this permission notice shall be included in all

% copies or substantial portions of the Software.

%

% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

% IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS

% FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR

% COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER

% IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN

% CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

%

% https://github.com/petercorke/spatial-math

function T = rpy2tr(roll, varargin)

R = rpy2r(roll, varargin{:});

T = r2t(R);

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