Function improper_rotation_matrix 

pub fn improper_rotation_matrix(
    angle: f64,
    axis: &Vector3<f64>,
    power: i8,
    kind: &ImproperRotationKind,
) -> Matrix3<f64>

Returns a $3 \times 3$ transformation matrix in $\mathbb{R}^3$ corresponding to an improper rotation through angle about axis raised to the power power.

Arguments

• angle - The angle of rotation.
• axis - The axis of rotation.
• power - The power of transformation.
• kind - The convention in which the improper rotation is defined.

Returns

The transformation matrix.