Problem 44895. Determine roll pitch yaw angles from a 3D rotation matrix

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Solution 2445591

Submitted on 1 Jun 2020 by jmac

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Rafael S.T. Vieira on 14 Sep 2020

It's interesting that a precision error allows you to recover the original angles: atan2(cos(pi/2)*sin(pi/3),cos(pi/2)*cos(pi/3)) amazingly returns pi/3, which obviously should not be true since atan2(0,0) = 0 (?). The issue seems to be that cos(pi/2) is not zero (due to an approximation error), but just a really small value close to zero.

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Problem 44895. Determine roll pitch yaw angles from a 3D rotation matrix

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