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Subsections

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.
$\displaystyle \mbox{\boldmath$ 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



Richard Gourdeau 2004-07-06