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As the variables contained in a cell are storShift + Enter or Ctr + Enter.
As the variables contaShift + Enterdef rotation_matrix(d):
"""
Calculates a rotation matrix given a vector d. The direction of d
corresponds to the rotation axis. The length of d corresponds to
the sin of the angle of rotation.
Variant of: http://mail.scipy.org/pipermail/numpy-discuss
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