Returns rotation vector corresponding to rpy_vector

Returns the rotation vector corresponding to ’rpy_vector’ where the RPY (roll-pitch-yaw) rotations are extrinsic rotations about the X-Y-Z axes (corresponding to intrinsic rotations about the Z-Y’-X” axes).

Parameters

rpy_vector: 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).

Return Value

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

Example command: rpy2rotvec([3.14,1.57,0])

• Example Parameters:
  • rpy_vector = [3.14,1.57,0] -> roll=3.14, pitch=1.57, yaw=0
    • Returns [2.22153, 0.00177, -2.21976] -> rx=2.22153, ry=0.00177, rz=-2.21976