iFit/sw_rot

 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.