You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: rotationMatrix.m
    path of file: ./repos/Robotics-Toolbox/rvcdlcs/src/thirdparty/dh2poe
    
    the code of the file until where you have to start completion: function [ R ] = rotationMatrix( w,theta )
%rotationMatrix Rotation from axis and angle
%
%   R = rotationMatrix(w,theta) gives the rotation matrix about a unit axis
%   w for an angle of theta.
%   w:      Unit rotation axis, 3 x 1

    
function [ R ] = rotationMatrix( w,theta )
%rotationMatrix Rotation from axis and angle
%
%   R = rotationMatrix(w,theta) gives the rotation matrix about a unit axis
%   w for an angle of theta.
%   w:      Unit rotation axis, 3 x 1
%   theta:  rotation algle
%   R:      Rotation matrix, 3 x 3
R=eye(3)+skew(w)*sin(theta)+skew(w)*skew(w)*(1-cos(theta));

end