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# rpy2jac

Jacobian from RPY angle rates to angular velocity

J = rpy2jac(eul) is a Jacobian matrix (3x3) that maps roll-pitch-yaw angle rates to angular velocity at the operating point RPY=[R,P,Y].

J = rpy2jac(R, p, y) as above but the roll-pitch-yaw angles are passed as separate arguments.

## Notes

- Used in the creation of an analytical Jacobian.

## See also

eul2jac, SerialLink.JACOBN

© 1990-2014 Peter Corke.