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