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`rv2m(`

`w`)

[SOFA] Returns the rotation matrix corresponding to rotation vector

, which must have 3 elements in its first dimension.
The rotation matrix Euler axis gets the direction of `w`

,
and the rotation matrix gets a rotation angle equal to the modulus of
`w`

. The result has the same dimensions as `w`

but with one extra dimension equal to 3 prefixed.
`w`