  We propose a direct (non-recursive) algorithm for applying a rotation
$R_{\theta^\ast}$, $\epsilon$-close to a desired rotation $R_\theta$, to a
single qubit using the Clifford+Toffoli gate set. Our algorithm does not rely
on repeatedly applying a fixed rotation, but immediately applies
$R_{\theta^\ast}$. It succeeds with probability strictly greater than $1/2$,
has an expected number of repetitions strictly less than 2, expected Toffoli
count logarithmic in $\tfrac{1}{\epsilon}$, and expected gate depth also
logarithmic in $\tfrac{1}{\epsilon}$.
