This is code I use for machine vision camera which provides data in °RPY

```
Cx = cos(°R / 2)
Sx = sin(°R / 2)
Cy = cos(°P / 2)
Sy = sin(°P / 2)
Cz = cos(°Y / 2)
Sz = sin(°Y / 2)
x = Sx*Cy*Cz - Cx*Sy*Sz
y = Cx*Sy*Cz + Sx*Cy*Sz
z = -Sx*Sy*Cz + Cx*Cy*Sz
Norm = sqrt(x^2 + y^2 + z^2)
θ = 2 * acos(Cx*Cy*Cz + Sx*Sy*Sz)
VectorX = x * (θ / Norm)
VectorY = y * (θ / Norm)
VectorZ = z * (θ / Norm)
```

Hello,

I would need the mathematical formula for the function "PoseTrans".

Background: Position preset by a controller.

And then I still need the conversion from the Rotationsvetoren to the RPY values.

Can anybody help me further ?