class="comment">% matrix. The required inputs (ie, X, Y, and Z matrices) must be the same</span>
0006 <span class="comment">% dimensions.</span>
0007 <span class="comment">%</span>
0008 <span class="comment">% For a discussion on how vector rotation works, see:</span>
0009 <span class="comment">%         http://www.kwon3d.com/theory/transform/rot.html</span>
0010 
0011 <span class="comment">% Written by:</span>
0012 <span class="comment">% Frank L. Engel (fengel2@illinois.edu)</span>
0013 
0014 <span class=