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fsbrain (version 0.7.0)

rotation.matrix: Build a 4x4 rotation matrix (Rodrigues formula).

Description

Build a 4x4 rotation matrix (Rodrigues formula).

Usage

rotation.matrix(angle_rad, x, y, z)

Value

4x4 numeric rotation matrix in homogeneous coordinates. Matches the convention of rotate3d / rotationMatrix.

Arguments

angle_rad

numeric scalar, the rotation angle in radians.

x

numeric, x component of the rotation axis.

y

numeric, y component of the rotation axis.

z

numeric, z component of the rotation axis.