Consider a robotics application where the world reference coordinate frame {W} and a robot manipulator arm with an attached tool coordinate frame {T}. The orientation of {T} is described in terms of roll-pitch-yaw angles defined as a sequence of rotations, starting with the {W} frame, where yaw is about the X axis, pitch is about the Y axis and roll is about the Z axis.
The variable name rpy suggests that the order is [roll, pitch, yaw], but that's not correct, is it?
Oh, I see. You have defined the yaw to be around the x-axis, and the roll to be around the z-axis. But there is still a problem with test case 4. I think it should be [-1,-2,0] rather than [1,-2,0].
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Swap the first and last columns
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17 Solvers
Make a random, non-repeating vector.
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