Returns RPY vector corresponding to rotation_vector

Returns the RPY vector corresponding to ’rotation_vector’ where the rotation vector is the axis of rotation with a length corresponding to the angle of rotation in radians.

Parameters

rotation_vector: The rotation vector (Vector3d) in radians, also called the Axis-Angle vector (unit-axis of rotation multiplied by the rotation angle in radians).

Return Value

The RPY vector (Vector3d) in radians, describing a roll-pitch-yaw sequence of extrinsic rotations about the X-Y-Z axes, (corresponding to intrinsic rotations about the Z-Y’-X” axes). In matrix form the RPY vector is defined as Rrpy = Rz(yaw)Ry(pitch)Rx(roll).

Example command: rotvec2rpy([3.14,1.57,0])

• Example Parameters:
  • rotation_vector = [3.14,1.57,0] -> rx=3.14, ry=1.57, rz=0
    • Returns [-2.80856, -0.16202, 0.9] -> roll=-2.80856, pitch=-0.16202, yaw=0.9