Calculating roll, pitch, and yaw from XYZ coordinates of 3 planar points?

Hello.

I have a body moving through a space. The body has 3 co-planar points on the body. I know the global X, Y, and Z coordinates of the 3 points. I know the coordinates over time along the path.

How can I calculate the roll, pitch and yaw angles of the plane on the body based on the initial location?

[I had a look at the question and the answer uploaded on 9 Aug 2016 (https://kr.mathworks.com/matlabcentral/answers/298940-how-to-calculate-roll-pitch-and-yaw-from-xyz-coordinates-of-3-planar-points), but somehow it doesn't seem to work well. Even for the points on the same plane, the angles varied in order, and the xyz axis didn't appear to be clear.]

Answer 1

[Bruno Luong]

You might use

FEX by Matt

to derive the translation/rotation (6DOfs), then compute the roll/pitch/yaw from the rotation matrix, (depending on you desired convention of the angles).