axis angle of rotation to direction cosine matrix

(Definition)

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

⌊ A11 A12 A13 ⌋ ⌊ cos(α ) + e2(1 − cos(α)) e1e2(1 − cos(α)) + e3sin (α) e1e3(1 − cos (α )) − e2sin (α ) ⌋ ⌈ ⌉ ⌈ 1 2 ⌉ A21 A22 A23 = e1e2(1 − cos(α)) − e3sin(α) cos(α) + e2(1 − cos(α)) e2e3(1 − cos(2α)) + e1sin (α ) A31 A32 A33 e1e3(1 − cos(α)) + e2sin(α) e2e3(1 − cos(α)) − e1sin (α) cos(α) + e3(1 − cos(α))

(1)

"axis angle of rotation to direction cosine matrix" is owned by bloftin.
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Pending Errata and Addenda