Rotation about Y axis
R = roty(THETA) R = roty(THETA, 'deg')
R = ROTY(THETA) is a rotation matrix representing a rotation of THETA radians about the x-axis.
R = ROTY(THETA)
R = ROTY(THETA, 'deg') as above but THETA is in degrees.
R = ROTY(THETA, 'deg')