axis angle of rotation to direction cosine matrix

For now, without proof you can get the direction cosine matrix (DCM) from the axis angle of rotation by

$\displaystyle \left[ \begin{array}{ccc} A_{11} & A_{12} & A_{13} \\ A_{21} & A_...
...)) - e_1 sin(\alpha) & cos(\alpha) + e_3^2(1 - cos(\alpha)) \end{array} \right]$ (1)



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