Re: rotation matrix

>    Frame start(left, Vector(10, 0, 1.5) );
>    Here  how the rotation matrix (left) is defined?

If you take a look at the api documentation
<http://people.mech.kuleuven.be/~psoetens/orocos/doc/latest/api/html/classORO__Geometry_1_1Rotation.html> 
you will see that the Rotation class has two constructors:


- The first takes 12 double's that make up the rotation matrix:

Rotation (double Xx, double Yx, double Zx, double Xy, double Yy, double Zy, 
double Xz, double Yz, double Zz)


- The second takes 3 vector's (the columns of the rotation matrix):

Rotation (const Vector &x, const Vector &y, const Vector &z)






Greetings,

Johan
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