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38 lines
1.2 KiB
38 lines
1.2 KiB
%ROTY Rotation about Y axis
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%
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% R = ROTY(THETA) is a rotation matrix representing a rotation of THETA
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% radians about the y-axis.
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%
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% R = ROTY(THETA, 'deg') as above but THETA is in degrees.
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%
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% See also ROTX, ROTZ, ANGVEC2R.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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function R = roty(t, deg)
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if nargin > 1 && strcmp(deg, 'deg')
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t = t *pi/180;
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end
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ct = cos(t);
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st = sin(t);
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R = [
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ct 0 st
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0 1 0
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-st 0 ct
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];
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