CREATEROTATION3DLINEANGLE Create rotation around a line by an angle theta.

   MAT = createRotation3dLineAngle(LINE, ANGLE)

   Example
     origin = [1 2 3];
     direction = [4 5 6];
     line = [origin direction];
     angle = pi/3;
     rot = createRotation3dLineAngle(line, angle);
     [axis angle2] = rotation3dAxisAndAngle(rot);
     angle2
     angle2 =
           1.0472

   See also
   transforms3d, rotation3dAxisAndAngle, rotation3dToEulerAngles,
   eulerAnglesToRotation3d

Package: matgeom