main/src/georegression/geometry/ConvertRotation3D_F64.java
public static DMatrixRMaj rodriguesToMatrix( Rodrigues_F64 rodrigues, DMatrixRMaj R ) {
		return rodriguesToMatrix(
				rodrigues.unitAxisRotation.x,
				rodrigues.unitAxisRotation.y,
				rodrigues.unitAxisRotation.z,
				rodrigues.theta, R);
	}
public static DMatrixRMaj rodriguesToMatrix( Rodrigues_F64 rodrigues, DMatrixRMaj R ) {
		return rodriguesToMatrix(
				rodrigues.unitAxisRotation.x,
				rodrigues.unitAxisRotation.y,
				rodrigues.unitAxisRotation.z,
				rodrigues.theta, R);
	}
Converts {@link georegression.struct.so.Rodrigues_F64} into a rotation matrix.

@param rodrigues rotation defined using rotation axis angle notation.
@param R where the results will be stored.  If null a new matrix is declared internally.
@return rotation matrix.