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