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

Created by Peter Corke

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9 Solutions
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Last Solution submitted on Sep 14, 2020

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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 at 4:39

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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Solution 2445591

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1 Comment

Rafael S.T. Vieira on 14 Sep 2020 at 4:55

It's interesting that a precision error allows you to recover the original angles: atan2(cos(pi/2)*sin(pi/3),cos(pi/2)*cos(pi/3)) amazingly returns pi/3, which obviously should not be true since atan2(0,0) = 0 (?). The issue seems to be that cos(pi/2) is not zero (due to an approximation error), but just a really small value close to zero.

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

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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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