public static void setRotX ( double ang , DMatrixRMaj R ) { double c = Math . cos ( ang ) ; double s = Math . sin ( ang ) ; R . set ( 0 , 0 , 1 ) ; R . set ( 1 , 1 , c ) ; R . set ( 1 , 2 , - s ) ; R . set ( 2 , 1 , s ) ; R . set ( 2 , 2 , c ) ; }
Sets the values in the specified matrix to a rotation matrix about the x - axis .