Rotation Transforms in Space - Rotation Transforms for Computer Graphics - page 133

Fig. 9.8 Definitions of yaw , pitch and roll

Fig. 9.9 A convention for
roll , pitch and yaw angles

⎡ ⎤

cos roll − sin roll 0

⎣ ⎦

R roll,z = sin roll cos roll 0

0 0 1

⎡ ⎤

1 0 0

⎣ ⎦

R pitch,x = 0 cos pitch − sin pitch

0 in pitch cos pitch

⎡ ⎤

cos yaw 0 in yaw
01

⎣ ⎦ .

R yaw,y = 0

− sin yaw 0 cos yaw