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roty

PURPOSE ^

ROTY Rotation about Y axis

SYNOPSIS ^

function r = roty(t)

DESCRIPTION ^

ROTY Rotation about Y axis

    R = ROTY(theta)

 Returns a 3x3 rotation matrix representing a rotation of theta 
 about the Y axis.

 See also: ROTX, ROTZ, ROTVEC.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %ROTY Rotation about Y axis
0002 %
0003 %    R = ROTY(theta)
0004 %
0005 % Returns a 3x3 rotation matrix representing a rotation of theta
0006 % about the Y axis.
0007 %
0008 % See also: ROTX, ROTZ, ROTVEC.
0009 
0010 % Copyright (C) 1993-2008, by Peter I. Corke
0011 %
0012 % This file is part of The Robotics Toolbox for Matlab (RTB).
0013 %
0014 % RTB is free software: you can redistribute it and/or modify
0015 % it under the terms of the GNU Lesser General Public License as published by
0016 % the Free Software Foundation, either version 3 of the License, or
0017 % (at your option) any later version.
0018 %
0019 % RTB is distributed in the hope that it will be useful,
0020 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0021 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0022 % GNU Lesser General Public License for more details.
0023 %
0024 % You should have received a copy of the GNU Leser General Public License
0025 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0026 
0027 function r = roty(t)
0028     ct = cos(t);
0029     st = sin(t);
0030     r =    [ct    0    st
0031         0    1    0
0032         -st    0    ct];

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