Rotation matrix manipulation functions

Rotation about an axis.
BTKMatrix	BTK::create_rotation_matrix (const BTKVector &axis, double theta)
void	BTK::initialize_rotation_matrix (const BTKVector &axis, double theta, BTKMatrix &rm)
Rotation by Euler angles.
Euler angles are evil. Don't use them. Of course, sometimes they're more efficient than any other alternative (such as when you need to rotate into another coordinate system) so we provide the ability to create a rotation from Euler angles, assuming the 'X convention': phi - first rotation, around the Z axis. theta - second rotation, around the X axis [0,pi]. psi - third rotation, around Z axis. These are the conventions used in Mathematica, in case you're partial to that package. They may not be the same as whatever other package you're using, however, so beware!
BTKMatrix	BTK::create_rotation_matrix (double phi, double theta, double psi)
	Create a new rotation matrix from Euler angles.
void	BTK::initialize_rotation_matrix (double phi, double theta, double psi, BTKMatrix &rm)
	Initialize a pre-existing rotation matrix.

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Function Documentation

BTKMatrix BTK::create_rotation_matrix (  double  phi, double  theta, double  psi )

Create a new rotation matrix from Euler angles.

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BTKMatrix BTK::create_rotation_matrix (  const BTKVector &  axis, double  theta )

Create a rotation matrix for a rotation about an axis. Given an axis of rotation (expressed as a vector), and an angle of rotation (in radians) about that axis, create a rotation matrix.

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void BTK::initialize_rotation_matrix (  double  phi, double  theta, double  psi, BTKMatrix &  rm )

Initialize a pre-existing rotation matrix.

void BTK::initialize_rotation_matrix (  const BTKVector &  axis, double  theta, BTKMatrix &  rm )

Initialize a pre-existing rotation matrix for rotation about an axis. Given an axis of rotation (expressed as a vector), and an angle of rotation (in radians) about that axis, intialize a rotation matrix.

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