hry.m

针对移动机械臂运动学

function hr = hry (b,o)
%HRY(ANGLE) or HRY(ANGLE,"OPTION") Homogeneous Rotation over Y-axis.

%July ~ December 2005, by Reinaldo M. do Nascimento

try,b=mod(b,2*pi);o=0;catch,o=1;end
    cb = cos(b);
	sb = sin(b);
if nargin==2 & o==0
    if abs(cb) <= eps
        cb=0;
    end
    if abs(sb) <= eps
        sb=0;
    end
end
	hr =   [cb	0	sb	0
             0	1	 0	0
		   -sb	0	cb	0
		     0	0	 0	1];