Problem 44893. Create a 3D rotation matrix from roll-pitch-yaw angles

Created by Peter Corke

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Consider a robotics application where the world reference coordinate frame {W} and a robot manipulator arm with an attached tool coordinate frame {T}. The orientation of {T} is described in terms of roll-pitch-yaw angles defined as a sequence of rotations, starting with the {W} frame, where yaw is about the X axis, pitch is about the Y axis and roll is about the Z axis.

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Last Solution submitted on Nov 18, 2025

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William on 27 Apr 2019

The variable name rpy suggests that the order is [roll, pitch, yaw], but that's not correct, is it?

William on 4 May 2019

Oh, I see. You have defined the yaw to be around the x-axis, and the roll to be around the z-axis. But there is still a problem with test case 4. I think it should be [-1,-2,0] rather than [1,-2,0].

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Problem 44893. Create a 3D rotation matrix from roll-pitch-yaw angles

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Problem 44893. Create a 3D rotation matrix from roll-pitch-yaw angles

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Last 200 Solutions

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Problem Recent Solvers10

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