Rotation Matrix

Rotation matrix in 2D, 3D and N-D

RotMatrix - N-dimensional Rotation matrix

R = RotMatrix(alpha, u, v)

INPUT:

alpha: Angle of rotation in radians, counter-clockwise direction.

u, v: If just the input alpha is provided, a 2D matrix is replied.

For 1 input u, the 3D rotation matrix is created. u must have 3

elements.

If u and v are used as inputs, the N-dimensional rotation is

performed in the hyperplane spanned by u and v. Note, that there is

no unique axis of rotation in N>3 dimensions.

u and v are normalized automatically and in the N-D case v is made

orthogonal to u.

The dimension of u and v determine the dimension of the output.

OUTPUT:

R: Rotation matrix.

REFERENCES:

https://analyticphysics.com/Higher%20Dimensions/Rotations%20in%20Higher%20Dimensions.htm

https://en.wikipedia.org/wiki/Rotation_matrix

https://application.wiley-vch.de/books/sample/3527406204_c01.pdf