I was able to download the evaluation of the LabVIEW 2010 Robotics Module (unfortunately not available for Mac at the time of this writing) and wrote this quick VI to demonstrate using the Angle Vector to Rotation Matrix VI and the Rotation Matrix to Angle Vector VI.
This simple VI takes an angle, in radians, by which the rotation occurs and a vector specifying the x, y, and z coordinates of the point around which to rotate.
The front panel for this VI allows the user to double check the Homogenous Transforms by using the output of one transform as the input of the other as shown below:
The rotation matrix is very important to a number of robotics operations. There is a ton that could be said about this as it relates to kinematics and the representation and manipulation of an end effector, but for now I am happy to make the VI work.
So far I have had a few issues with the examples that have come with the Robotics Module and in terms of a product for business use I have some concerns. It also appears that because I am using the evaluation version some of the implementations that I am most interested in looking at are protected. Even with these limitations, the LabVIEW 2010 Robotics Module has been very interesting to look at.