class ROOT::Math::Rotation3D

 constructor of a identity rotation

 rectify rotation matrix (make orthogonal)
 The "nearest" orthogonal matrix X to a nearly-orthogonal matrix A
 (in the sense that X is exaclty orthogonal and the sum of the squares
 of the element differences X-A is as small as possible) is given by
 X = A * inverse(sqrt(A.transpose()*A.inverse())).

 invert a rotation

 ========== Constructors and Assignment =====================

Default constructor (identity rotation)

Construct given a pair of pointers or iterators defining the
beginning and end of an array of nine Scalars

Construct from an AxisAngle

Construct from EulerAngles

Construct from RotationZYX

Construct from a Quaternion

Construct from an axial rotation

Construct from a linear algebra matrix of size at least 3x3,
which must support operator()(i,j) to obtain elements (0,0) thru (2,2).
Precondition:  The matrix is assumed to be orthonormal.  No checking
or re-adjusting is performed.

Construct from three orthonormal vectors (which must have methods
x(), y() and z()) which will be used as the columns of the rotation
matrix.  The orthonormality will be checked, and values adjusted
so that the result will always be a good rotation matrix.

 The compiler-generated copy ctor, copy assignment, and dtor are OK.

Raw constructor from nine Scalar components (without any checking)

Assign from an AxisAngle

Assign from EulerAngles

Assign from RotationZYX

Assign from a Quaternion

Assign from an axial rotation

Assign from an orthonormal linear algebra matrix of size 3x3,
which must support operator()(i,j) to obtain elements (0,0) thru (2,2).

 ======== Components ==============

Set components from three orthonormal vectors (which must have methods
x(), y() and z()) which will be used as the columns of the rotation
matrix.  The orthonormality will be checked, and values adjusted
so that the result will always be a good rotation matrix.

Get components into three vectors which will be the (orthonormal)
columns of the rotation matrix.  (The vector class must have a
constructor from 3 Scalars.)

Set the 9 matrix components given an iterator to the start of
the desired data, and another to the end (9 past start).

Get the 9 matrix components into data specified by an iterator begin
and another to the end of the desired data (9 past start).

Get the 9 matrix components into data specified by an iterator begin

Overload operator * for rotation on a vector

Return inverse of  a rotation

Multiplication of an axial rotation by a Rotation3D

Multiplication of an axial rotation by another axial Rotation