astropy/astropy — pull request #2619 by eteq (2014-06-11 21:45:52+00:00)
Title: Fix quirks in rotation_matrix

As discussed in more detail on the astropy list, the implementation of `rotation_matrix` for arbitrary axes had some rounding and sign convention issues. This PR fixes that, updates `angle_axis` to be more consistent with it, and adds a few tests of these functions.