main/src/georegression/struct/se/SpecialEuclideanOps_F64.java
public static Se3_F64 axisXyz(double dx, double dy, double dz, double rotX, double rotY, double rotZ,
								  Se3_F64 se) {
		if( se == null )
			se = new Se3_F64();

		double theta = Math.sqrt(rotX*rotX + rotY+rotY + rotZ*rotZ);
		if( theta == 0 ) {
			CommonOps_DDRM.setIdentity(se.R);
		} else {
			ConvertRotation3D_F64.rodriguesToMatrix( rotX/theta, rotY/theta, rotZ/theta,theta, se.getR() );
		}

		Vector3D_F64 T = se.getT();
		T.x = dx;
		T.y = dy;
		T.z = dz;
		return se;
	}
public static Se3_F64 axisXyz(double dx, double dy, double dz, double rotX, double rotY, double rotZ,
								  Se3_F64 se) {
		if( se == null )
			se = new Se3_F64();

		double theta = Math.sqrt(rotX*rotX + rotY+rotY + rotZ*rotZ);
		if( theta == 0 ) {
			CommonOps_DDRM.setIdentity(se.R);
		} else {
			ConvertRotation3D_F64.rodriguesToMatrix( rotX/theta, rotY/theta, rotZ/theta,theta, se.getR() );
		}

		Vector3D_F64 T = se.getT();
		T.x = dx;
		T.y = dy;
		T.z = dz;
		return se;
	}
Create SE3 using axis-angle for rotation and XYZ tanslation

@param dx   Translation along x-axis.
@param dy   Translation along y-axis.
@param dz   Translation along z-axis.
@param rotX x-axis component
@param rotY y-axis component
@param rotZ z-axis component
@param se   If not null then the transform is written here.
@return The transform.