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rotaxisMat

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

Morpho

Calculations and Visualisations Related to Geometric Morphometrics

v2.8
GPL-2
Authors
Stefan Schlager [aut, cre, cph], Gregory Jefferis [ctb], Dryden Ian [cph]
Initial release
2020-02-26

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