CSPICE_AXISAR returns a 3x3 double rotation matrix that rotates
vectors by a specified angle about a specified axis.
For important details concerning this module's function, please refer to
the CSPICE routine axisar_c.
Given:
axis an arbitrary, nonzero, double precision 3vector
defining a rotation axis
angle a double precision angular value, in radians,
defining the measure of rotation about 'axis'
the call:
cspice_axisar, axis, angle, r
returns:
r a double precision 3x3 matrix representing the
coordinate transformation determined by 'axis'
and 'angle', i.e. the application of 'r' to a
3vector returns the result of rotating the
vector about 'axis' through 'angle' radians
Any numerical results shown for this example may differ between
platforms as the results depend on the SPICE kernels used as input
and the machine specific arithmetic implementation.
Apply the rotation matrix to an arbitrary 3 vector 'vec',
using native IDL code:
vec_rot = r ## vec
or with an Icy call:
cspice_mxv, r, vec, vec_rot
None.
ICY.REQ
ROTATION.REQ
Icy Version 1.0.0, 16JUN2003, EDW (JPL)
axis and angle to rotation
