%ROTY Rotation about y % Homogeneous transform for rotation about y axis % % Syntax: T = roty(phi) % % Inputs: % phi - angle to rotate about y % % Outputs: % T - homogeneous rotation transformation % % See also: ROTX, ROTZ % Author: Travis Hydzik % Last revision: 19 October 2004 function T = roty(phi) T = [ cos(phi) 0 sin(phi) 0 0 1 0 0 -sin(phi) 0 cos(phi) 0 0 0 0 1]; % alternatively % T = rot([0 1 0], phi)