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Abstract
I/O
Examples
Particulars
Required Reading
Version
Index_Entries

Abstract


   CSPICE_ROTATE calculates the 3x3 rotation matrix generated
   by a rotation of a specified angle about a specified axis.
   This rotation operates as a rotation of the coordinate
   system.

I/O


   Given:

      angle  the rotation angle(s) measured in radians.

             [1,1]   = size(angle); double = class(angle)

      iaxis  the ID of the axis of rotation. 'iaxis' = 1, 2 or 3 
             respectively designates the x-, y-, or z-axis.

             [1,1]   = size(iaxis); int32 = class(iaxis)

   the call:

      mout = cspice_rotate( angle, iaxis)

   returns:

      mout   rotation matrix/matrices that describe a rotation of 'angle'
             radians about 'iaxis'

             'mout' return with the same vectorization 
             measure, N, as 'angle'.

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.

      %
      % A Pi/10 rotation about the Z axis.
      %
      rot_mat = cspice_rotate( 0.1*cspice_pi, 3 )

      %
      % Apply the coordinate rotation to a vector.
      %
      vec = [ 1.2; 3.4; 4.5 ];

      vec1 = rot_mat * vec

   MATLAB outputs:

      rot_mat =

          0.9511    0.3090         0
         -0.3090    0.9511         0
               0         0    1.0000

      vec1 =

          2.1919
          2.8628
          4.5000

Particulars


   None.

Required Reading


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

   MICE.REQ
   ROTATION.REQ

Version


   -Mice Version 1.0.1, 10-MAR-2015, EDW (JPL)

      Edited I/O section to conform to NAIF standard for Mice documentation.

   -Mice Version 1.0.0, 10-JAN-2006, EDW (JPL)

Index_Entries


   generate a rotation matrix


Wed Apr  5 18:00:34 2017