rotk

Syntax

ReturnMatrix rotk(const Real theta, 
                  const ColumnVector & k);

Description

This function returns the matrix of a rotation of an angle theta around the vector k.

$$\mbox{\boldmath$ Rot $}(\mbox{\boldmath$ k $}, \theta)$$ (2.9)

Note: the column vector k must have a length of at least 3. Only the first 3 elements are used.

Return Value

Matrix