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Abstract
I/O
Examples
Particulars
Required Reading
Version
Index_Entries

Abstract


   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.

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.
   

Examples


   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.

Particulars


   None.

Required Reading


   ICY.REQ
   ROTATION.REQ

Version


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

Index_Entries


   euler angles to matrix




Wed Apr  5 17:58:01 2017