In reply to ow arm:
This can be a misleading symptom another fault altogether:
1. anti roll bar bushes/drop links or other suspension bushes. <Very common on the old serria & Rover 2/4 series, exactly the symptoms you describe, magnifies warped discs x10>
2. ABS fault <operating even when not needed>
3. Buckled wheel.
First off confirm the disc are at fault - take wheel off and use an axle stand with a pencil taped to the top. Align the stand so the tip of the pencil is just touching the disc the slowly trun the wheel while carefully watching the pencil tip. You should see a gap open up as you are turning then close again if the discs are warped. If they are shot perhaps look at the wifes driving, holding the car on the foot brake after braking to stop anyway can cause this, motorway driving usually, heavy braking for the exit jn then sitting on the brakes at the jn traffic lights for example. A yaris don't sound like this sort of car though!