void rotate_c ( SpiceDouble angle,
SpiceInt iaxis,
SpiceDouble mout[3][3] )
Calculate the 3x3 rotation matrix generated by a rotation
of a specified angle about a specified axis. This rotation
is thought of as rotating the coordinate system.
None.
MATRIX, ROTATION
VARIABLE I/O DESCRIPTION
  
angle I Angle of rotation (radians).
iaxis I Axis of rotation (X=1, Y=2, Z=3).
mout O Resulting rotation matrix [angle]
iaxis
angle The angle given in radians, through which the rotation
is performed.
iaxis The index of the axis of rotation. The X, Y, and Z
axes have indices 1, 2 and 3 respectively.
mout Rotation matrix which describes the rotation of the
COORDINATE system through angle radians about the
axis whose index is iaxis.
None.
Error free.
1) If the axis index is not in the range 1 to 3 it will be
treated the same as that integer 1, 2, or 3 that is congruent
to it mod 3.
None.
A rotation about the first, i.e. xaxis, is described by
 1 0 0 
 0 cos(theta) sin(theta) 
 0 sin(theta) cos(theta) 
A rotation about the second, i.e. yaxis, is described by
 cos(theta) 0 sin(theta) 
 0 1 0 
 sin(theta) 0 cos(theta) 
A rotation about the third, i.e. zaxis, is described by
 cos(theta) sin(theta) 0 
 sin(theta) cos(theta) 0 
 0 0 1 
rotate_c decides which form is appropriate according to the value
of IAXIS.
If rotate_c is called from a C program as follows:
rotate_c ( pi_c()/4, 3, mout );
then mout will be given by
 sqrt(2)/2 sqrt(2)/2 0 
mout = sqrt(2)/2 sqrt(2)/2 0 
 0 0 1 
None.
None.
N.J. Bachman (JPL)
W.M. Owen (JPL)
W.L. Taber (JPL)
CSPICE Version 1.0.0 08FEB1998 (NJB)
Based on SPICELIB Version 1.0.1, 10MAR1992 (WLT)
generate a rotation matrix
