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3 | # Function rotationMatrix
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4 |
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5 | Create a 2-dimensional counter-clockwise rotation matrix (2x2) for a given angle (expressed in radians).
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6 | Create a 2-dimensional counter-clockwise rotation matrix (3x3) by a given angle (expressed in radians) around a given axis (1x3).
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7 |
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8 |
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9 | ## Syntax
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10 |
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11 | ```js
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12 | math.rotationMatrix(theta)
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13 | math.rotationMatrix(theta, format)
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14 | math.rotationMatrix(theta, [v])
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15 | math.rotationMatrix(theta, [v], format)
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16 | ```
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17 |
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18 | ### Parameters
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19 |
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20 | Parameter | Type | Description
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21 | --------- | ---- | -----------
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22 | `theta` | number | BigNumber | Complex | Unit | Rotation angle
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23 | `v` | Array | Matrix | Rotation axis
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24 | `format` | string | Result Matrix storage format
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25 |
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26 | ### Returns
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27 |
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28 | Type | Description
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29 | ---- | -----------
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30 | Array | Matrix | Rotation matrix
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31 |
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32 |
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33 | ## Examples
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34 |
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35 | ```js
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36 | math.rotationMatrix(math.pi / 2) // returns [[0, -1], [1, 0]]
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37 | math.rotationMatrix(math.bignumber(1)) // returns [[bignumber(cos(1)), bignumber(-sin(1))], [bignumber(sin(1)), bignumber(cos(1))]]
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38 | math.rotationMatrix(math.complex(1 + i)) // returns [[cos(1 + i), -sin(1 + i)], [sin(1 + i), cos(1 + i)]]
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39 | math.rotationMatrix(math.unit('1rad')) // returns [[cos(1), -sin(1)], [sin(1), cos(1)]]
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40 |
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41 | math.rotationMatrix(math.pi / 2, [0, 1, 0]) // returns [[0, 0, 1], [0, 1, 0], [-1, 0, 0]]
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42 | math.rotationMatrix(math.pi / 2, matrix([0, 1, 0])) // returns matrix([[0, 0, 1], [0, 1, 0], [-1, 0, 0]])
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43 |
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44 | ```
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45 |
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46 |
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47 | ## See also
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48 |
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49 | [matrix](matrix.md),
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50 | [cos](cos.md),
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51 | [sin](sin.md)
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