%RPY2TR Roll/pitch/yaw to homogenous transform%% 	TR = RPY2TR([R P Y])%	TR = RPY2TR(R,P,Y)%% Returns a homogeneous tranformation for the specified roll/pitch/yaw angles.% These correspond to rotations about the X, Y, Z axes respectively, applied% in the order yaw, pitch, roll.%% NOTE: in previous releases (<8) the angles corresponded to rotations about Z, Y, X.%% See also: TR2RPY, EUL2TR% Copyright (C) 1993-2008, by Peter I. Corke%% This file is part of The Robotics Toolbox for Matlab (RTB).% % RTB is free software: you can redistribute it and/or modify% it under the terms of the GNU Lesser General Public License as published by% the Free Software Foundation, either version 3 of the License, or% (at your option) any later version.% % RTB is distributed in the hope that it will be useful,% but WITHOUT ANY WARRANTY; without even the implied warranty of% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the% GNU Lesser General Public License for more details.% % You should have received a copy of the GNU Leser General Public License% along with RTB.  If not, see <http://www.gnu.org/licenses/>.function T = rpy2tr(roll, pitch, yaw)	if (nargin == 1),		if numcols(roll) ~= 3,			error('bad arguments')		end		pitch = roll(:,2);		yaw = roll(:,3);		roll = roll(:,1);	end	if numrows(roll) == 1,		r = rotx(roll) * roty(pitch) * rotz(yaw);		T = r2t(r);	else		for i=1:numrows(roll),			r = rotx(roll(i)) * roty(pitch(i)) * rotz(yaw(i));			T(:,:,i) = r2t(r);		end	end