aa_rotmat Subroutine

public subroutine aa_rotmat(axis, angle, rotmat)

Returns the rotation matrix corresponding to an axis-angle representation.

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=rp),	intent(in),		dimension(3)	::	axis	Unit vector along the axis.
real(kind=rp),	intent(in)			::	angle	Angle of rotation in radian. 0 <= angle < pi.
real(kind=rp),	intent(out),		dimension(3,3)	::	rotmat	Rotation matrix.