### Syntax

R = sw_rotmat(rotAxis,rotAngle)

### Description

R = sw_rotmat(rotAxis,rotAngle) produces the R rotation matrix that rotates any vector around the given rotAxis rotation axis by rotAngle angle in radian. Positive rotation is the right-hand direction around the rotation axis and using the following rotation formula:

VR = R*V


To rotate tensors ($$3\times 3$$ matrices) use the following formula:

Mp = R * M * R';


### Input Arguments

rotAxis
Axis of rotation, stored in a row vector with 3 elements.
rotAngle
Angle of rotation in radian, can be also a row vector with $$n_{ang}$$ number of elements.

### Output Arguments

R
Rotation matrix with dimensions of $$[3\times 3]$$ if a single rotation angle is given. If rotAngle is a vector, R will contain a rotation matrix for each angle, it’s dimensions are $$[3\times 3\times n_{ang}]$$.