rotation_matrix3D

PURPOSE

Uses Rodrigues's formula to create a 3x3 rotation matrix R.

SYNOPSIS

function R = rotation_matrix3D( u, theta )

DESCRIPTION

 Uses Rodrigues's formula to create a 3x3 rotation matrix R.

 The results of R*xMatrix is x rotated theta degrees about u.

 INPUTS
   u       - axis of rotation - specified as (x,y,z)
   theta   - angle of rotation (radians)

 OUTPUTS
   R       - 3x3 Rotation matrix

 EXAMPLE
   R = rotation_matrix3D( [0 0 1], pi/4 )
   R * [1 0 0]'

 DATESTAMP
   11-Oct-2005  9:00pm

 See also RECOVER_ROTATION3D, ROTATION_MATRIX2D

CROSS-REFERENCE INFORMATION

This function calls:

This function is called by:

recover_rotation3D Takes a rotation matrix and extracts the rotation angle and axis.