rotd

Syntax

ReturnMatrix rotd(const Real theta, 
                  const ColumnVector & k1, 
                  const ColumnVector & k2);

Description

This function returns the matrix of a rotation of an angle theta around the oriented line segment defined by the points k1 and k2.

Note: the column vectors k1 and k2 must have a length of at least 3. Only the first 3 elements are used.

Return Value

Matrix