Rotation Matrix

Description: Rotation Matrix with inputs angle in rad and rotation axis.

There are 3 possible cases:

rotation_matrix(phi,3) $\mathbf{R} = \begin{bmatrix} \cos \varphi & \sin \varphi & 0 \\ -\sin \varphi & \cos \varphi & 0 \\ 0 & 0 & 1 \end{bmatrix}$
rotation_matrix(phi,2) $\mathbf{R} = \begin{bmatrix} \cos \varphi & 0 & \sin \varphi\\ 0 & 1 & 0 \\ -\sin \varphi & 0 & \cos \varphi\\ \end{bmatrix}$
rotation_matrix(phi,1) $\mathbf{R} = \begin{bmatrix} 1 & 0 & 0 \\ 0 &\cos \varphi & \sin \varphi\\ 0 & -\sin \varphi & \cos \varphi\\ \end{bmatrix}$

Property	Value
Result	Tensor-valued function
Data Types	`Tensor2`

real(kind=8) :: phi
type(Tensor2)  :: R

R = rotation_matrix(phi,1)

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