calc_Rot_rp

% Rotation matrix from axis and angle
 see PCV (8.29)
 
 Usage:
   R = calc_Rot_rp(r,p)
 
   r - double 3x1, rotation axis, normalized, such that |r| = 1
   p - rotation angle [radiant]

   R - double 3x3, 3D rotation matrix

 Wolfgang Förstner
 wfoerstn@uni-bonn.de 

 See also calc_R_from_opq_kraus, calc_r_phi_from_R, calc_Rot_ab,
 calc_Rot_q, calc_Rot_r, calc_Rot_rod, calc_Mq, calc_Mq_comm, calc_opq_from_R_Kraus

0001 %% Rotation matrix from axis and angle
0002 % see PCV (8.29)
0003 %
0004 % Usage:
0005 %   R = calc_Rot_rp(r,p)
0006 %
0007 %   r - double 3x1, rotation axis, normalized, such that |r| = 1
0008 %   p - rotation angle [radiant]
0009 %
0010 %   R - double 3x3, 3D rotation matrix
0011 %
0012 % Wolfgang Förstner
0013 % wfoerstn@uni-bonn.de
0014 %
0015 % See also calc_R_from_opq_kraus, calc_r_phi_from_R, calc_Rot_ab,
0016 % calc_Rot_q, calc_Rot_r, calc_Rot_rod, calc_Mq, calc_Mq_comm, calc_opq_from_R_Kraus
0017 
0018 function R = calc_Rot_rp(r,p)
0019 
0020 rn = r/norm(r);
0021 R = cos(p)*eye(3) + sin(p)*calc_S(rn) + (1-cos(p))*rn*rn';
0022