#
# Upper boom axis projected angles, deployment rotation angle, and
# rotation point location (from RO-SEN-TN-3501)
#
yxangle = 10.8
yzangle = 22.5
rangle  = -171.7758
rpoint  = [1190,850,2328.6-28.6]

print "INPUT projected angles: ", yxangle, yzangle

#
# Construct rotation axis direction from projected angles.
#
x =   sin ( yxangle / dpr() )
y =   cos ( yxangle / dpr() )
z = - tan ( yzangle / dpr() ) * y
axis = [x,y,z]

print "rotation axis: ", axis

#
# Verify projected angles.
#
print 'CHECK projected angles: ', atan(x/y) * dpr(), - atan(z/y) * dpr()

#
# Construct rotation to boom axis frame assiming that 
# s/c +X axis is in the boom ZX plane. 
#
xaxis = [1,0,0]
call twovec( axis, 3, xaxis, 1, mat )

#
# Rotate stowed boom vector from s/c frame to boom axis frame
#
booms = [0,0,-1]
call mxv( mat, booms, booms1 )

#
# Rotate boom by rangle about z to "move" it the deploed position.
# 
call rotvec (booms1, rangle/dpr(), 3, boomd1)

# 
# Rotate deployed boom vector back to s/c frame.
#
call mtxv( mat, boomd1, boomd )
print "deployed boom:",  boomd

exit