RPY角和Euler角 RPY 角和 Euler 角 定义 假设存在两个坐标系 A、B，两者初始时完全重合。 RPY 角 (XYZ) B 绕着 A 的 X 轴旋转 $\gamma$ 角，再绕 A 的 Y 轴旋转 $\beta$ 角，最后绕着 A 的 Z 轴旋转 $\alpha$ 角。整个过程，A 不动 B 动。考虑得到的最终的旋转矩阵为 $R$，代表将 A
2022年8月9日
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