cspice_xf2eul

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

```
CSPICE_XF2EUL converts a state transformation matrix to
Euler angles and their derivatives with respect to a
specified set of axes.

For important details concerning this module's function, please refer to
the CSPICE routine xf2eul_c.

```

#### I/O

```
Given:

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
time derivative of 'r'.

axisA
axisB
axisC   the integer code identifying the axes of the Euler
factorization for 'r'

r =  [ alpha ]     [ beta ]     [ gamma ]
axisA        axisB         axisC

The value 1 corresponds to the X axis.
The value 2 corresponds to the Y axis.
The value 3 corresponds to the Z axis.

the call:

cspice_xf2eul, xform, axisA, axisB, axisC, eulang, unique

returns:

eulang   a double precision 6-vector of Euler angles corresponding
to the specified factorization

If we represent r as:

r =  [ alpha ]     [ beta ]     [ gamma ]
axisA        axisB         axisC

then :

eulang = alpha
eulang = beta
eulang = gamma
eulang = d(alpha)/dt
eulang = d(beta)/dt
eulang = d(gamma)/dt

unique    a scalar boolean indicating if 'eulang' represents
a unique representation of the factorization.

The call cspice_eul2xf inverts the operation on 'eulang'
by cspice_xf2eul, however a call to cspice_xf2eul may not invert
the operation of cspice_eul2xf.

```

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None.

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None.

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```
ICY.REQ
ROTATION.REQ

```

#### Version

```
-Icy Version 1.0.1, 09-DEC-2005, EDW (JPL)

Added Examples section.

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

```

#### Index_Entries

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Euler angles and derivatives from state transformation

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`Wed Apr  5 17:58:05 2017`