---
title: "RotationAxisAngle"
---
<!-- DO NOT EDIT! This file was auto-generated by crates/build/re_types_builder/src/codegen/docs/website.rs -->

3D rotation represented by a rotation around a given axis.

If normalization of the rotation axis fails the rotation is treated as an invalid transform, unless the
angle is zero in which case it is treated as an identity.

## Rerun datatype
[`RotationAxisAngle`](../datatypes/rotation_axis_angle.md)


## Arrow datatype
```
Struct(
    "axis": non-null FixedSizeList(3 x non-null Float32)
    "angle": non-null Float32
)
```

## API reference links
 * 🌊 [C++ API docs for `RotationAxisAngle`](https://ref.rerun.io/docs/cpp/stable/structrerun_1_1components_1_1RotationAxisAngle.html)
 * 🐍 [Python API docs for `RotationAxisAngle`](https://ref.rerun.io/docs/python/stable/common/components#rerun.components.RotationAxisAngle)
 * 🦀 [Rust API docs for `RotationAxisAngle`](https://docs.rs/rerun/latest/rerun/components/struct.RotationAxisAngle.html)


## Used by

* [`Boxes3D`](../archetypes/boxes3d.md)
* [`Capsules3D`](../archetypes/capsules3d.md)
* [`Cylinders3D`](../archetypes/cylinders3d.md)
* [`Ellipsoids3D`](../archetypes/ellipsoids3d.md)
* [`GridMap`](../archetypes/grid_map.md)
* [`InstancePoses3D`](../archetypes/instance_poses3d.md)
* [`Transform3D`](../archetypes/transform3d.md)
* [`VoxelGridMap`](../archetypes/voxel_grid_map.md)
