Description Usage Arguments Details Value Note Author(s) References Examples

Compute the rotation matrix by an angle *θ* along the *z* axis

1 | ```
rMatrix(theta)
``` |

`theta` |
The rotation angle, in radians |

The counterclockwise 3 x 3 rotation matrix by an angle *θ* along the *z* axis is defined as:

*
≤ft[ \begin{array}{ccc} \cos θ & -\sin θ & 0 \\
\sin θ & \cos θ & 0 \\
0 & 0 & 1 \\ \end{array} \right]
*

A 3 x 3 matrix

This is a low-level function.

Federico Comoglio, federico.comoglio@bsse.ethz.ch

Weisstein, Eric W. "Rotation Matrix." From MathWorld–A Wolfram Web Resource, http://mathworld.wolfram.com/RotationMatrix.html

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