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There are two references frames, A and B.
Let A's reference frame be denoted by the columns of the identity matrix, and let A's origin be (0,0,0).
Let B's reference frame and origin be denoted by a transformation matrix T, where T =
R11 R12 R13 x
R21 R22 R23 y
R31 R32 R33 z
0 0 0 1
(Sorry, I don't know how to make it fancy as this is my first post). So basically the R sub matrix is the rotation matrix, and x,y,z is the translation of the origin.
Now, I have the values of the elements of T. From this, how do I determine the yaw, pitch, and roll? Roll is defined to be the rotation about the x-axis; pitch is defined to be the rotation about the y-axis; and yaw is defined to be the rotation about the z-axis.
EDIT:
I have already seen this http://en.wikipedia.org/wiki/Rotation_matrix#General_rotations and know that I can just set R_x(gamma) * R_y(beta) * R_z(\alpha) * (a column of the R matrix) = <1,0,0> and then solve for gamma, beta, and alpha, but I was wondering if there was an easier, more direct way.
Let A's reference frame be denoted by the columns of the identity matrix, and let A's origin be (0,0,0).
Let B's reference frame and origin be denoted by a transformation matrix T, where T =
R11 R12 R13 x
R21 R22 R23 y
R31 R32 R33 z
0 0 0 1
(Sorry, I don't know how to make it fancy as this is my first post). So basically the R sub matrix is the rotation matrix, and x,y,z is the translation of the origin.
Now, I have the values of the elements of T. From this, how do I determine the yaw, pitch, and roll? Roll is defined to be the rotation about the x-axis; pitch is defined to be the rotation about the y-axis; and yaw is defined to be the rotation about the z-axis.
EDIT:
I have already seen this http://en.wikipedia.org/wiki/Rotation_matrix#General_rotations and know that I can just set R_x(gamma) * R_y(beta) * R_z(\alpha) * (a column of the R matrix) = <1,0,0> and then solve for gamma, beta, and alpha, but I was wondering if there was an easier, more direct way.
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