rt_roty - homogeneous transform for rotation about Y-axis[view code]
Return a homogeneous transformation representing a rotation of theta radians about the Y-axis.
// The following example shows how rt_roty() can be used to generate a // homogeneous transform representing a rotation of 30degrees about the // Y-axis. Here, function rt_plot() is used to display result in a // graphical way. You can found further details on use of rt_plot() // reading its help page (quaternion/rt_plot). // A rotation of 30degrees about the Y-axis T = rt_roty(%pi/6), // Plot the World frame orientation h0 = scf(0); a0 = h0.children; a0.tight_limits = "on"; a0.rotation_angles = [59, -5]; rt_plot(rt_quaternion(eye(3,3))); // Plot orientation for the new frame. // The Y-axis is in red whereas the X and the Z axes are in blue. // Note how the Y-axis direction and verse are unchanged, whereas the X // and the Z axes have been effectively rotated by 30degrees. rt_plot(rt_quaternion(T), "X", "blue", "Y", "red", "Z", "blue");
rt_rotx, rt_rotz, rt_rotvec, quaternion/rt_plot,
Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32