main/src/georegression/geometry/ConvertRotation3D_F64.java
public static DMatrixRMaj rodriguesToMatrix( double axisX , double axisY , double axisZ , double theta,
													DMatrixRMaj R ) {
		R = checkDeclare3x3( R );

		//noinspection UnnecessaryLocalVariable
		double x = axisX, y = axisY, z = axisZ;

		double c = Math.cos( theta );
		double s = Math.sin( theta );
		double oc = 1.0 - c;

		R.data[0] = c + x * x * oc;
		R.data[1] = x * y * oc - z * s;
		R.data[2] = x * z * oc + y * s;
		R.data[3] = y * x * oc + z * s;
		R.data[4] = c + y * y * oc;
		R.data[5] = y * z * oc - x * s;
		R.data[6] = z * x * oc - y * s;
		R.data[7] = z * y * oc + x * s;
		R.data[8] = c + z * z * oc;

		return R;
	}
public static DMatrixRMaj rodriguesToMatrix( double axisX , double axisY , double axisZ , double theta,
													DMatrixRMaj R ) {
		R = checkDeclare3x3( R );

		//noinspection UnnecessaryLocalVariable
		double x = axisX, y = axisY, z = axisZ;

		double c = Math.cos( theta );
		double s = Math.sin( theta );
		double oc = 1.0 - c;

		R.data[0] = c + x * x * oc;
		R.data[1] = x * y * oc - z * s;
		R.data[2] = x * z * oc + y * s;
		R.data[3] = y * x * oc + z * s;
		R.data[4] = c + y * y * oc;
		R.data[5] = y * z * oc - x * s;
		R.data[6] = z * x * oc - y * s;
		R.data[7] = z * y * oc + x * s;
		R.data[8] = c + z * z * oc;

		return R;
	}
public static DMatrixRMaj rodriguesToMatrix ( double axisX , double axisY , double axisZ , double theta , DMatrixRMaj R ) { R = checkDeclare3x3 ( R ) ; //noinspection UnnecessaryLocalVariable double x = axisX , y = axisY , z = axisZ ; double c = Math . cos ( theta ) ; double s = Math . sin ( theta ) ; double oc = 1.0 - c ; R . data [ 0 ] = c + x * x * oc ; R . data [ 1 ] = x * y * oc - z * s ; R . data [ 2 ] = x * z * oc + y * s ; R . data [ 3 ] = y * x * oc + z * s ; R . data [ 4 ] = c + y * y * oc ; R . data [ 5 ] = y * z * oc - x * s ; R . data [ 6 ] = z * x * oc - y * s ; R . data [ 7 ] = z * y * oc + x * s ; R . data [ 8 ] = c + z * z * oc ; return R ; }
Converts axis angle ({@link Rodrigues_F64}) into a rotation matrix with out needing to declare a storage
variable.

@param axisX x-component of normalized rotation vector
@param axisY y-component of normalized rotation vector
@param axisZ z-component of normalized rotation vector
@param theta magnitude of rotation in radians
@param R (Optional) storage for 3x3 rotation matrix.  If null one will be declared internally.
@return Rotation matrix.
Converts axis angle ( { @link Rodrigues_F64 } ) into a rotation matrix with out needing to declare a storage variable .