### Syntax

`R = sw_rotmat(rotAxis,rotAngle)`

### Description

`R = sw_rotmat(rotAxis,rotAngle)`

produces the `R`

rotation matrix that
rotates any vector around the given `rotAxis`

rotation axis by `rotAngle`

angle in radian. Positive rotation is the right-hand direction around the
rotation axis and using the following rotation formula:

```
VR = R*V
```

To rotate tensors ( matrices) use the following formula:

```
Mp = R * M * R';
```

### Input Arguments

`rotAxis`

- Axis of rotation, stored in a row vector with 3 elements.
`rotAngle`

- Angle of rotation in radian, can be also a row vector with number of elements.

### Output Arguments

`R`

- Rotation matrix with dimensions of if a single rotation
angle is given. If
`rotAngle`

is a vector,`R`

will contain a rotation matrix for each angle, itâ€™s dimensions are .