title: Howto make a roto-translation in PCL if I have the angle and the axis?
body: <p>I want to make a translation of a point cloud, currently I have the vector of the axis and I also have the angle. Can I construct automatically the matrix or I have to calculate it by manually like <a href="https://en.wikipedia.org/wiki/Rotation_matrix" rel="nofollow">this</a>?</p>
  
  <p>In the PCL <a href="http://pointclouds.org/documentation/tutorials/matrix_transform.php" rel="nofollow">example</a> they use a MAtrix 4x4 that they build, so I hope someone know a way to obtain this matrix automatically.</p>