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cspice_rav2xf
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Abstract
I/O
Examples
Particulars
Required Reading
Version
Index_Entries

Abstract


   CSPICE_RAV2XF determines the state transformation matrix 
   from a rotation matrix and the angular velocity of the 
   rotation.

   For important details concerning this module's function, please refer to
   the CSPICE routine rav2xf_c.

I/O

   
   Given:
   
      rot   a 3x3 double precision  rotation matrix rot
      av    a double precision 3-vector defining the angular
            velocity of the transformation
   
   the call:
   
      cspice_rav2xf, rot_mat, av, xform
   
   returns:
   
      xform   a double precision, 6x6 state transformation 
              matrix in the form
   
              [       |        ] 
              |  r    |    0   | 
              |       |        | 
              |-------+--------| 
              |       |        | 
              | dr/dt |    r   | 
              [       |        ]
   
              where 'r' represents the rotation matrix from frame 
              'from' into frame 'to', and 'dr/dt' represents the 
   

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.

   
      ;;
      ;; Define an angular velocity vector:
      ;;
      e1     =  [ 1.d,   0.d,  0.d ]   
      
      ;;
      ;; Rotation matrix for "elementary" frame rotations:  90 degrees
      ;; about the z axes:
      ;;
      rz_90 = [[ 0.d,  1.d,  0.d ], $
               [-1.d,  0.d,  0.d ], $
               [ 0.d,  0.d,  1.d ] ]
   
      ;;
      ;; The call cspice_rav2xf calculates the state transformation matrix
      ;; strans associated with the angular velocity vector and the
      ;; rotation matrix.
      ;;
      cspice_rav2xf, rz_90, e1, strans

Particulars


   cspice_xf2rav inverts the operation of cspice_rav2xf.

Required Reading


   ICY.REQ
   ROTATION.REQ

Version


   -Icy Version 1.0.1, 12-APR-2007, EDW (JPL)

      Edit to abstract.

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

Index_Entries

 
  State transformation to rotation and angular velocity 
 



Wed Apr  5 17:58:03 2017