to_rpy

DCM.to_rpy() → ndarray

Roll-Pitch-Yaw Angles from DCM

A set of Roll-Pitch-Yaw angles may be written according to:

\[\begin{split}\mathbf{a} = \begin{bmatrix}\phi \\ \theta \\ \psi\end{bmatrix} = \begin{bmatrix}\mathrm{arctan2}(r_{23}, r_{33}) \\ -\arcsin(r_{13}) \\ \mathrm{arctan2}(r_{12}, r_{11})\end{bmatrix}\end{split}\]

Returns:

a – roll-pitch-yaw angles.

Return type:

numpy.ndarray