
  R3 = rotationMatrix( [0 0 1], pi/4 );
  [u,theta]  = rotationMatrix( R3 )

 EXAMPLE 3
  R2 = rotationMatrix( pi/4 )

 EXAMPLE 4
  R3 = rotationMatrix( [0 0 .5] )

 EXAMPLE 5
  R3 = rotationMatrix( [0 0 1], pi/4 )

 EXAMPLE 6
  R3 = rotationMatrix( pi/4,pi/4,0 )

 EXAMPLE 7
  R3 = rotationMatrix( pi/4,pi/4,0 )
  R3bis = rotationMatrix( R3(1:2,:) )

 EXAMPLE 7
  [th1 th2 th3] = rotationmatrix( rotationMatrix( pi/4,pi/4,0 ) );

 EXAMPLE 8
  [th1 th2 th3]=rotationMatrix(rotationMatrix