Function proper_rotation_matrix 

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

Returns a $3 \times 3$ rotation matrix in $\mathbb{R}^3$ corresponding to a 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 rotation.

Returns

The rotation matrix.