Updated 4 August 2018 There is a lot of confusion around the terms Euler angles and roll-pitch-yaw angles. This stems from quite different, seemingly authoritative, definitions in textbooks and papers. There is no clear right and wrong here, authors are
This article is a quick introduction to MATLAB objects, using an example from the Robotics Toolbox for MATLAB. It was originally Appendix C in the first edition of my book, but deleted from the second edition for space reasons.