title: Are CMAttitude and CATransform3D related by rotational matrices?
body: <p>I'm looking at the core motion class <code>CMAttitude</code>, it can express the device's orientation as a 3x3 rotational matrix. At the same time I've taken a look at the <code>CATransform3D</code>, which encapsulates the view's attitude, as well as scaling. The <code>CATransform3D</code> is a 4x4 matrix. </p>
  
  <p>I've seen that the OpenGL rotational matrix is 4x4 and is simply 0001 padded in the 4th row and column. </p>
  
  <p><strong>I'm wandering if the CMAttitude's rotational matrix is related to CATransform's matrix?</strong></p>
  
  <p>Can I use the device's rotation in space obtained via a rotational matrix to transform a UIView using <code>CATransform3D</code>? My intention is to let the user move the phone and apply the same transform to a UIView on the screen.</p>
  
  <p><strong>Bonus question: if they are related, how do I transform a CMAttitude's rotational matrix to CATransform3D?</strong></p>