AxisAngleToMatrix:

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   Convert axis / angle representation to a rotation matrix. 
   The two rotations are equivalent. The inputs describe the rotation in
   terms of rotating an angle theta about a given axis. The output is a
   3x3 rotation matrix.
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   Form:
   R = AxisAngleToMatrix( axis, theta )
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   ------
   Inputs
   ------
   axis       (3,1)   Rotate around this axis
   angle      (1,1)   Rotate through this angle (rad)
   
   -------
   Outputs
   -------
   R          (3,3)   Equivalent rotation matrix

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Children:

Common: Graphics/AddAxes
Common: Math/SkewSq
Common: Math/SkewSymm
Common: Math/Unit
Plotting: Utilities/Coordinates