RMrotat: Rotation matrices
Description
RMrotat and RMrotation are
auxiliary space-time functions that create some rotation
$$f(h, t) = s (\cos(\phi t) h_1 + \sin(\phi t) h_2) / \|h\|$$
and
$$f(h, t) = (\cos(\phi t) h_1 + \sin(\phi t) h_2,
- \sin(\phi t) h_1 + \cos(\phi t) h_2, t)$$
respectivelyUsage
RMrotat(speed, phi)
RMrotation(phi)