aa_to_dcm Subroutine

public subroutine aa_to_dcm(axis, angle, dcm)

Converts an axis-angle representation to a direction cosine matrix.

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)	::	dcm	Direction cosine matrix.