RotMat:

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   Generates a rotation matrix that transforms in the opposite direction
   of the rotation. Angle may be one to three. Axis gives the order of
   transformation. For example:

   axis = [1;2;3]

   then b = b(3)*b(2)*b(1)

   and v            = b*v
        unrotated        rotated

   If angle has more than one column, then b will be

   [b1, b2, b3, ..., bn]

   and each row of bK will give the column indices of the 
   corresponding transformation matrix. For example, to get the
   3rd transformation matrix type

   b(:,bK(3,:))

   Since version 1.
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   Form:
   [b, bK] = RotMat( angle, axis )
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   ------
   Inputs
   ------
   angle       (:,n)            Angle (rad)
   axis        (:,n)            Axis of rotation

   -------
   Outputs
   -------
   b           (3,n)            Transformation matrix
   bK          (3,n)            Indexes to n

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Children:

Math: Linear/DupVect