Problem 44895. Determine roll pitch yaw angles from a 3D rotation matrix

Created by Peter Corke

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Consider an aerospace application where the world reference coordinate frame {W} and a body-fixed coordinate frame {B}. The origins of {W} and {B} are coincident. The orientation of {B} is described in terms of roll-pitch-yaw angles defined as a sequence of rotations where yaw is about the Z, pitch is about the Y axis and roll is about the X axis.

Given an SO(3) rotation matrix describing the orientation of {B} with respect to {W} determine the roll-pitch-yaw angles.

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Last Solution submitted on Feb 16, 2025

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William on 29 Apr 2019

There is a flaw in the test suite. It tests the values in rpy2r rather than the results rpy from the solver's function. Also, the tolerance needs to be widened a bit.

Rafael S.T. Vieira on 14 Sep 2020

Actually that's not a flaw, William. Since it is not always possible to determine the exact three original angles. In the second test case for instance, there are infinite solutions due to a singularity. Therefore, he tests the rotation matrix since it will be equal for all possible solutions.

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Problem 44895. Determine roll pitch yaw angles from a 3D rotation matrix

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Last 200 Solutions

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Problem 44895. Determine roll pitch yaw angles from a 3D rotation matrix

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Last 200 Solutions

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Problem Recent Solvers7

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More from this Author16

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