SMC_Matrix3_ToYawPitchRoll (FUN)
FUNCTION SMC_Matrix3_ToYawPitchRoll : BOOL
Computes the angles yaw, pitch and roll from a rotation matrix mR. It is assumed that mR is a rotation matrix, i.e. mR*mR^T = I and det(mR) = 1. The angles are in the following ranges: -pi < roll, yaw <= pi, -pi/2 <= pitch <= pi/2. Postcondition: mR = Rx(roll) * Ry(pitch) * Rz(yaw).
InOut:
|
Scope |
Name |
Type |
|
Return |
SMC_Matrix3_ToYawPitchRoll |
BOOL |
|
Inout Const |
mR |
|
|
Output |
dRoll_rad |
LREAL |
|
dPitch_rad |
LREAL |
|
|
dYaw_rad |
LREAL |
