The functionrotv calculates a Matrix of rotation about v w/ angle |v| r = rotv(v [,ang])
Returns the rotation matrix w/ axis v, and angle, in radians, norm(v) or ang (if present).
rotv(v) == w’*w + cos(a) * (eye(3)-w’*w) - sin(a) * crossmat(w)
where a = norm (v) and w = v/a.
v and ang may be vertically stacked : If ’v’ is 2x3, then rotv( v ) == [rotv(v(1,:)); rotv(v(2,:))]
See also: rotparams, rota, rot.
Package: linear-algebra