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MathGroup Archive 1999

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Re: rotation matrix to Yaw-Pitch-Roll angles

  • To: mathgroup at
  • Subject: [mg20564] Re: rotation matrix to Yaw-Pitch-Roll angles
  • From: "John M. Jowett" <John.Jowett at>
  • Date: Sat, 30 Oct 1999 00:14:10 -0400
  • Organization: CERN
  • References: <7v3ddk$>
  • Sender: owner-wri-mathgroup at

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.

Hello, This comes up in accelerator physics (and many other places) and
I happen to know a handy reference

John Jowett
My home page:

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