lptopic">Convert a homogeneous transform to roll-pitch-yaw angles</span></p><p>
<strong>rpy</strong> = <span style="color:red">tr2rpy</span>(<strong>T</strong>, <strong>options</strong>) are the roll-pitch-yaw angles (1x3)
corresponding to the rotation part of a homogeneous transform <strong>T</strong>. The 3
angles <strong>rpy</strong>=[R,P,Y] correspond to sequential rotations about the Z, Y and
X axes respectively. Roll and yaw angles in [-pi,pi) while pitch angle
in [-pi/2,pi/2).

</p>
<p>
<strong>rpy</