rotaxisMat {Morpho}

calculate a rotation matrix around an arbitrary axis through the origin in 3D

Description

calculate a rotation matrix around an arbitrary axis in 3D

Usage

rotaxisMat(u, theta, homogeneous = FALSE)

Arguments

u

a vector around which to rotate

theta

angle in radians to rotate

homogeneous

logical: if TRUE a 4x4 rotation matrix is returned

Value

returns 3x3 rotation matrix

References

http://en.wikipedia.org/wiki/Rotation_matrix

See Also

rotaxis3d