roty

Rotation about Y axis

R = roty(theta) is an SO(3) rotation matrix (3x3) representing a rotation of theta radians about the y-axis.

R = roty(theta, 'deg') as above but theta is in degrees.

See also

rotx, rotz, angvec2r, rot2

Robotics Toolbox for MATLAB © 1990-2014 Peter Corke.