HingeRotationMatrix:

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   Transformation matrix for an arbitrary number of single axis rotations.
   The angle vector goes from unrotated body to rotated and the
   transformation matrix is from unrotated frame to rotated frame.
   axis is a 3-by-n array of rotation axes
   that corresponds to the axis of rotation for each angle. For example
   if there are two rotations the transformation matrix will be

   u_rotated_frame = b(angle(2))*b(angle(1))*u_unrotated_frame

   This function is similar to BHinge.m except that it does not use
   the bHinge data structure and only handles axis, angle pairs.

   Since version 7.
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   Form:
   [bT, bH] =  = HingeRotationMatrix( angle, axis )
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   ------
   Inputs
   ------
   angle          (1,:)  Angles
   axis           (3,:)  Axes in columns

   -------
   Outputs
   -------
   bT             (3,3)  Transformation matrix from unrotated to rotated frame
   bH              {:}   Matrix for each rotation in the set

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Children:

Common: Quaternion/AU2Q
Common: Quaternion/Q2Mat