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MathGroup Archive 1999

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Re: rotation matrix to Yaw-Pitch-Roll angles

  • To: mathgroup at
  • Subject: [mg20459] Re: rotation matrix to Yaw-Pitch-Roll angles
  • From: Jens-Peer Kuska <kuska at>
  • Date: Wed, 27 Oct 1999 02:04:35 -0400
  • Organization: Universitaet Leipzig
  • References: <7v3ddk$>
  • Sender: owner-wri-mathgroup at


the SurfaceOfRevolution package has the code inside 
look for the rotationmatrix[] function. It is in the
private section but you may copy the code pice.

Hope that helps

"Gil C." wrote:
> Hello,
> I know this question was asked before, but I could not find an
> answer...
> Having the definition of an object's orientation in space (world XYZ
> coordinate system), how do I represent its orientation as
> Yaw-Pitch-Roll angles ?
> I am looking for the formulas.
> The rotation matrix is:
> 3 elements describing the cosine of the angle between X axis, Y axis
> and Z axis of the object and the  X of the "world" coordinate system.
> next 3 elements are for the object's Y axis.
> Last 3 are for Z axis.
> Thanks in advance,
> Gil.

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