cspice_eul2m

 Abstract I/O Examples Particulars Required Reading Version Index_Entries
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#### Abstract

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CSPICE_EUL2M constructs a 3x3, double precision matrix from
a set of Euler angles and the corresponding rotation axes.

For important details concerning this module's function, please refer to
the CSPICE routine eul2m_c.

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#### I/O

```
Given:

angle3
angle2
angle1    a set of double precision rotation angles
measured in radians
axis3
axis2
axis1     the integer indexes defining the rotation axis
corresponding to each angle

the call:

cspice_eul2m, angle3, angle2, angle1, axis3, axis2, axis1, r

returns:

r   a 3x3 double precision matrix defined by the Euler
rotation scheme, with r defined as:

r = [ angle3 ]     [ angle2 ]      [ angle1 ]
axis3          axis2           axis1

Note: the rotation defines a coordinate system rotation,
e.g. a single rotation of 90 degrees about the Z maps
the vector [ 1, 0, 0] (the +x unit vector) to [ 0, -1, 0]
(the -y unit vector). A vector rotation would map the
+x unit vector to the +y unit vector.

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#### Examples

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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.

;;
;; Create the rotation matrix for a single coordinate
;; rotation of 90 degrees about the Z axis.
;;
cspice_eul2m, cspice_halfpi(), 0.d, 0.d, 3, 1, 1, rot

;;
;; Output the result of rotating the +x unit vector
;; using the rot matrix. As 'rot' is a CSPICE matrix,
;; use the ## operator.
;;
print, rot ## [1.d, 0.d, 0.d ]

IDL outputs:

6.1232340e-17
-1.0000000
0.0000000

A representation of the -y unit vector to round-off error accuracy.

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None.

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```
ICY.REQ
ROTATION.REQ

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#### Version

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-Icy Version 1.0.0, 16-JUN-2003, EDW (JPL)

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#### Index_Entries

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euler angles to matrix

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`Wed Apr  5 17:58:01 2017`