private static DMatrixRMaj rotationAboutAxis ( int axis , double angle , DMatrixRMaj R ) { switch ( axis ) { case 0 : return ConvertRotation3D_F64 . rotX ( angle , R ) ; case 1 : return ConvertRotation3D_F64 . rotY ( angle , R ) ; case 2 : return ConvertRotation3D_F64 . rotZ ( angle , R ) ; default : throw new IllegalArgumentException ( "Unknown which" ) ; } }
Creates a rotation matrix about the specified axis .