rong>function varargout=rotationMatrix(varargin) </strong></div>

<h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2>
<div class="fragment"><pre class="comment"> Performs different operations dealing with a rotation matrix

 USAGE
  R = rotationMatrix( M )
  [u,theta] = rotationMatrix( R )
  R = rotationMatrix( theta )
  R = rotationMatrix( u )
  R = rotationMatrix( u, theta )
  R = rotationMatrix( th1, th2, th3 )
  R = rotationMatrix( R2 