rotation3 {cooltools}

3D rotation matrix

Description

Compute a 3D rotation matrix given an axis and an angle

Usage

rotation3(u, angle = NULL)

Arguments

u

3-vector specifying the rotation axis

angle

rotation angle in radians; if not given, the norm of the vector u is interpreted as the angle

Value

Returns a 3-by-3 rotation matrix

Author(s)

Danail Obreschkow

See Also

rotation2