main/src/georegression/geometry/ConvertRotation3D_F64.java
public static DMatrixRMaj rodriguesToMatrix( double axisX , double axisY , double axisZ , double theta,
													DMatrixRMaj R ) {
		R = checkDeclare3x3( R );

		//noinspection UnnecessaryLocalVariable
		double x = axisX, y = axisY, z = axisZ;

		double c = Math.cos( theta );
		double s = Math.sin( theta );
		double oc = 1.0 - c;

		R.data[0] = c + x * x * oc;
		R.data[1] = x * y * oc - z * s;
		R.data[2] = x * z * oc + y * s;
		R.data[3] = y * x * oc + z * s;
		R.data[4] = c + y * y * oc;
		R.data[5] = y * z * oc - x * s;
		R.data[6] = z * x * oc - y * s;
		R.data[7] = z * y * oc + x * s;
		R.data[8] = c + z * z * oc;

		return R;
	}
public static DMatrixRMaj rodriguesToMatrix( double axisX , double axisY , double axisZ , double theta,
													DMatrixRMaj R ) {
		R = checkDeclare3x3( R );

		//noinspection UnnecessaryLocalVariable
		double x = axisX, y = axisY, z = axisZ;

		double c = Math.cos( theta );
		double s = Math.sin( theta );
		double oc = 1.0 - c;

		R.data[0] = c + x * x * oc;
		R.data[1] = x * y * oc - z * s;
		R.data[2] = x * z * oc + y * s;
		R.data[3] = y * x * oc + z * s;
		R.data[4] = c + y * y * oc;
		R.data[5] = y * z * oc - x * s;
		R.data[6] = z * x * oc - y * s;
		R.data[7] = z * y * oc + x * s;
		R.data[8] = c + z * z * oc;

		return R;
	}
Converts axis angle ({@link Rodrigues_F64}) into a rotation matrix with out needing to declare a storage
variable.

@param axisX x-component of normalized rotation vector
@param axisY y-component of normalized rotation vector
@param axisZ z-component of normalized rotation vector
@param theta magnitude of rotation in radians
@param R (Optional) storage for 3x3 rotation matrix.  If null one will be declared internally.
@return Rotation matrix.