axisAngle2Tmat <- function(axis, angle, p=NULL){
if(length(angle) == 1){
# Create empty transformation matrix
tmat <- diag(4)
# Fill matrix
tmat[1:3, 1:3] <- tMatrixEP_svg(v=axis, a=angle)
if(!is.null(p)){
tmat1 <- tmat2 <- diag(4)
tmat1[1:3, 4] <- p
tmat2[1:3, 4] <- -p
tmat <- tmat1 %*% tmat %*% tmat2
}
}else{
# Create empty transformation array
tmat <- array(diag(4), dim=c(4,4,length(angle)))
# Fill array
for(i in 1:length(angle)){
tmat[,,i] <- axisAngle2Tmat(axis=axis, angle=angle[i], p=p)
}
}
tmat
}
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