Form the rotation matrix corresponding to a given axial vector. (double precision) A rotation matrix describes a rotation about some arbitrary axis. The axis is called the Euler axis, and the angle through which the reference frame rotates is called the Euler angle. The axial vector supplied to this routine has the same direction as the Euler axis, and its magnitude is the Euler angle in radians.
axvec double axial vector (radians)
rmat double rotation matrix If axvec is null, the unit matrix is returned. The reference frame rotates clockwise as seen looking along the axial vector from the origin. P.T.Wallace Starlink 25 July 1993