make2Drot {utilitiesR} | R Documentation |
make 2D rotation matrix anticlockwise by theta
make2Drot(th)
th |
amount to rotate by (radians) |
the matrix:
≤ft(\begin{array}{cc} \cos(th) & -\sin(th)\\ \sin(th) & \cos(th) \end{array}\right)
make2Drot(th) * t(x, y)
gives (x, y) rotated by
angle theta anticlockwise.