rotm = axang2rotm(axang) converts
a rotation given in axis-angle form, axang, to
an orthonormal rotation matrix, rotm. When using
the rotation matrix, premultiply it with the coordinates to be rotated
(as opposed to postmultiplying).
Rotation given in axis-angle form, specified as an n-by-4
matrix of n axis-angle rotations. The first three
elements of every row specify the rotation axis, and the last element
defines the rotation angle (in radians).
Rotation matrix, returned as a 3-by-3-by-n matrix
containing n rotation matrices. Each rotation matrix
has a size of 3-by-3 and is orthonormal. When using the rotation matrix,
premultiply it with the coordinates to be rotated (as opposed to postmultiplying).
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