rotate3dh(theta, v) returns a 3D rotation by a given angle $\theta$ around a unit axis $v$. This transformation is encoded as a $4 \times 4$ matrix in homogeneous coordinates.
rotate3dh(theta, v)
angle of rotation (in radians)
axis of rotation (unit vector)
3D rotation matrix in homogeneous coordinates
rotate3dh(theta, v)returns a 3D rotation by a given angle $\theta$ around a unit axis $v$. This transformation is encoded as a $4 \times 4$ matrix in homogeneous coordinates.