Efficient computing local rotation of point clouds/polylines and so forth

[MCilento93]

Dear Developer,
I am using your package a lot and doing some tests with cloud points and lines.

In my case assume I want calculate the rotation matrix of a cloud of points along a vector starting for a specific point in space for a given angle (at the end is a eurelian rotation around a not-default coordinate system)

In the scatter plot below the rotation is around the center of the cloud (that is not the center of axes as you can see).

But unfortunately to do so I used two transformations.

I was wondering if there is a better way, avoiding two transformations: I didn’t find nothing useful neither in vg.

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