Rotation given in axis-angle form, specified as ann4矩阵ofnaxis-angle rotations. The first three elements of every row specify the rotation axis, and the last element defines the rotation angle (in radians).

Example:[1 0 0 pi/2]

Rotation matrix, returned as a 3-by-3-by-nmatrix containingnrotation matrices. Each rotation matrix has a size of 3-by-3 and is orthonormal. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Example:[0 0 1; 0 1 0; -1 0 0]