YAW

The YAW function computes the first angle, in radians, of a body-3 Yaw-Pitch-Roll rotation sequence.

Format

YAW(I, J)

Description

Given two coordinate systems, I and J, which are initially having the same orientation, this rotation sequence is defined as follows:
  • First, rotate in a counterclockwise direction about the z-axis of the I coordinate system [YAW].
  • Second, rotate counterclockwise about the negative y-axis of the I coordinate system [PITCH].
  • Third, rotate counterclockwise about the x-axis of the I coordinate system [ROLL].

The first argument, marker I, must be specified. The second argument, marker J, is optional.

Arguments

I
The marker whose rotational displacement is to be computed.
J
The marker with respect to which the rotational displacement is to be computed. If omitted, it defaults to the ground coordinate system.

Example

<Post_Request
     comment  = "Vehicle Orientation (degrees)"
     id       = "70000256"
     type     = "EXPRESSION"
     expr1    = "NULL"   
     expr2    = "YAW(30301010,30101010)*RTOD"     
     expr3    = "PITCH(30301010,30101010)*RTOD"
     expr4    = "ROLL(30301010,30101010)*RTOD"
/>

Comments

The figure below shows the physical meaning of the Yaw-Pitch-Roll rotation sequence.


Figure 1.