There's an error in the transformation_matrix of Quadrotor

[KimKreiss]

In the code /AerialNavigation/drone_3d_trajectory_following/Quadrotor.py
The rotation part of the transformation matrix has an error

PythonRobotics/AerialNavigation/drone_3d_trajectory_following/Quadrotor.py

Line 59 in 3fce78a

[-sin(pitch), cos(pitch) * sin(roll), cos(pitch) * cos(yaw), z]

The original term cos(pitch) * cos(yaw) should be cos(pitch) * cos(roll)

This can be verified by calculating the np.dot(T[:,:3], T[:,:3].T), which should equal an identity matrix.

[UjjwalPardeshi]

can you assign me this please .

[AtsushiSakai]

Can someone paste a link or image for the reference of the quadrotor transformation matrix mathematics here?

[KimKreiss]

Can someone paste a link or image for the reference of the quadrotor transformation matrix mathematics here?

here's a slide https://msl.cs.uiuc.edu/planning/node102.html