File Applications/SpinW/m_files/sw_rot.m

  rotates vectors around arbitrary axis in 3D
 
  [V, rotM] = SW_ROT(rotAxis, rotAngle, {V})
 
  It rotates vectors in V around rotAxis by rotAngle radian (positive angle
  is the right-hand direction).
 
  Input:
 
  rotAxis   Axis of rotation, dimensions are [1 3].
  rotAngle  Angle of rotation in radian (can be vector with dimensions of
            [1 nAng]).
  V         Matrix of 3D vectors, dimensions are [3 N], optional.
 
  Output:
 
  V         Rotated vectors, dimensions are [3 N nAng].
  rotM      Rotation matrix, dimensions are [3 3]. If rotAngle is a vector,
            rotM contains rotation matrices for every angle, it's
            dimensions are [3 3 nAng].
 
  The rotation matrix defines rotations in a right-handed coordinate
  system, the positive direction is counter-clockwise, when looking from
  where the rotation axis points. To rotate any column vector use the
  following:
    vp = rotM * v;
 
  To rotate tensors (3x3 matrices) use the following command:
    Ap = rotM * A * rotM';
 
  See also SW.GENMAGSTR, SW_MIRROR.