axis2dcm.m

function R=axis2dcm(v)

if (length(v)<4)
    disp('failed');
    R=[];
    return;
end

R=eye(4,4);
theta=v(4);

if (theta==0)
    return;
end

c=cos(theta);
s=sin(theta);
C=1-c;

xs =v(1)*s;
ys =v(2)*s;   
zs =v(3)*s;
xC =v(1)*C;   
yC =v(2)*C;   
zC =v(3)*C;
xyC=v(1)*yC; 
yzC=v(2)*zC; 
zxC=v(3)*xC;    

R(1,1)=v(1)*xC+c;
R(1,2)=xyC-zs;
R(1,3)=zxC+ys; 
R(2,1)=xyC+zs;
R(2,2)=v(2)*yC+c;
R(2,3)=yzC-xs; 
R(3,1)=zxC-ys;
R(3,2)=yzC+xs;
R(3,3)=v(3)*zC+c;