Yaw, Roll, and Pitch Angles

(C) 2006 - Roberto Lot

>   

psi, yaw angle

>   

phi, roll angle

>   

mu; pitch aw angle

>   

TYRP := rotate('Z',psi), rotate('X',phi), rotate('Y',mu);

>   

TYRP := rotate('Z',psi) * rotate('X',phi) * rotate('Y',mu);

psi, phi, mu

TYRP := matrix([[C(psi), -S(psi), 0, 0], [S(psi), C(psi), 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]), matrix([[1, 0, 0, 0], [0, C(phi), -S(phi), 0], [0, S(phi), C(phi), 0], [0, 0, 0, 1]]), matrix([[C(mu), 0, ...

TYRP := matrix([[C(psi)*C(mu)-S(psi)*S(phi)*S(mu), -S(psi)*C(phi), C(psi)*S(mu)+S(psi)*S(phi)*C(mu), 0], [S(psi)*C(mu)+C(psi)*S(phi)*S(mu), C(psi)*C(phi), S(psi)*S(mu)-C(psi)*S(phi)*C(mu), 0], [-C(phi)...