www.pudn.com > zhangzhengyou.rar > rotate.m

function R=rotate(a,b,y) 
Rx=[1   0     0 
    0 cos(a) -sin(a) 
    0 sin(a) cos(a)] 
Ry=[ cos(b) 0 sin(b) 
    0    1   0 
    -sin(b) 0 cos(b)] 
Rz=[cos(y) -sin(y) 0 
    sin(y) cos(y) 0 
    0   0    1] 
R=Rx*Ry*Rz;