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ReturnMatrix rotd(const Real theta,
const ColumnVector & k1,
const ColumnVector & k2);
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.
Matrix
Richard Gourdeau
2004-07-06