Single-qubit rotation algorithm with logarithmic Toffoli count and gate depth

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 $\tfrac{1}{\epsilon}$.