cspice_eul2xf |
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## AbstractCSPICE_EUL2XF computes a state transformation from an Euler angle factorization of a rotation and the derivatives of those Euler angles. ## I/OGiven: eulang the array(s) of Euler angles corresponding to the specified factorization. [6,n] = size(eulang); double = class(eulang) If we represent r as shown here: r = [ alpha ] [ beta ] [ gamma ] axisa axisb axisc then (6x1) eulang[1] = alpha eulang[2] = beta eulang[3] = gamma eulang[4] = dalpha/dt eulang[5] = dbeta/dt eulang[6] = dgamma/dt or (6xN) eulang[1,N] = alpha_N eulang[2,N] = beta_N eulang[3,N] = gamma_N eulang[4,N] = dalpha_N/dt eulang[5,N] = dbeta_N/dt eulang[6,N] = dgamma_N/dt axisa axisb axisc the indices defining the axes desired for the factorization of "r". All must be in the range from 1 to 3. [1,1] = size(axis3); int32 = class(axis3) [1,1] = size(axis2); int32 = class(axis2) [1,1] = size(axis1); int32 = class(axis1) Every rotation matrix can be represented as a product of three rotation matrices about the principal axes of a reference frame. 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: xform = ## ExamplesAny 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. % % Suppose you have a set of Euler angles and their derivatives % for a 3 1 3 rotation, and that you would like to determine % the equivalent angles and derivatives for a 1 2 3 rotation. % % r = [alpha] [beta] [gamma] % 3 1 3 % % r = [roll] [pitch] [yaw] % 1 2 3 % % The following code fragment will perform the desired computation. % abgang = [0.01; 0.03; 0.09; -0.001; -0.003; -0.009 ]; xform = ## ParticularsThis function is intended to provide an inverse for the function cspice_xf2eul. ## Required ReadingFor important details concerning this module's function, please refer to the CSPICE routine eul2xf_c. MICE.REQ ## Version-Mice Version 1.0.3, 06-NOV-2014, EDW (JPL) Edited I/O section to conform to NAIF standard for Mice documentation. -Mice Version 1.0.2, 29-FEB-2012, EDW (JPL) Edit to "Usage" string. "xform(3,3)" corrected to read "xform(6,6)." -Mice Version 1.0.1, 06-MAY-2009, EDW (JPL) Added MICE.REQ reference to the Required Reading section. -Mice Version 1.0.0, 02-APR-2007, EDW (JPL) ## Index_EntriesState transformation from Euler angles and derivatives |

Wed Apr 5 18:00:31 2017