make_rotation

/// Make a rotation matrix based on its transform of the axial versors.
///
/// \param transformed_versors  a kDimensions-sized initializer list of
///                             kDimensions-dimensional Points.
///
/// \todo  Consider a variadic function.
///
/// \sa  https://en.wikipedia.org/wiki/Versor_(physics)
///
template <typename RatT, size_t kDimensions>
auto make_rotation(
    const std::initializer_list<Point<RatT, kDimensions>>& transformed_versors)
    -> std::enable_if<transformed_versors.size() == kDimensions,
        Matrix<RatT, kDimensions + 1>>
{
  Matrix<RatT, kDimensions + 1> ret{};

  auto versor = std::cbegin(transformed_versors);
  for (int i = 0; i < kDimensions; ++i, ++versor) {
    ret.set_column(i, versor->as_vector());
  }

  return ret;
}