forked from ZhanLi/UWBIns
5 lines
147 B
Matlab
5 lines
147 B
Matlab
function Cb2n = roty(theta)
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% 3D初等旋转， theta为旋转角度，rad
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Cb2n = [cos(theta), 0 sin(theta); 0 1 0; -sin(theta) 0 cos(theta)];
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end |