rotation.matrix.for.axis.rot: Get rotation matrix for a 3D rotation around an axis.
Description
Get rotation matrix for a 3D rotation around an axis.
Usage
rotation.matrix.for.axis.rot(angle_rad, x, y, z, with_trans = TRUE)
Value
a 3x3 or 4x4 double matrix
Arguments
- angle_rad
doule, the angle in radians
- x
rotation axis
- y
rotation axis
- z
rotation axis
- with_trans
logical, whether to extend the 3x3 rotation matrix to a 4x4 rotation and tranlsation matrix.