CSPICE_ROTMAT calculates the rotation matrix generated by
a rotation of a specified angle about a specified axis applied
to a matrix. This rotation is thought of as rotating the
coordinate system.
Given:
m1 the matrix to apply the rotation. In matrix algebra, the
components of the matrix are relative to one particular
coordinate system. Applying cspice_rotmat changes the
components of 'm1' so that they are relative to a rotated
coordinate system.
[3,3] = size(m1); double = class(m1)
angle the angle in radians through which to rotate the original
coordinate system.
[1,1] = size(angle); double = class(angle)
iaxis the index for the axis of the original coordinate system
about which to perform the rotation by 'angle'.
'iaxis' = 1,2 or 3 respectively designates the x, y,
or zaxis.
[1,1] = size(iaxis); int32 = class(iaxis)
the call:
mout = cspice_rotmat( m1, angle, iaxis)
returns:
mout matrix resulting from the application of 'angle' to the
input matrix 'm1'.
[3,3] = size(mout); double = class(mout)
If
[angle]
iaxis
denotes the rotation matrix by 'angle' radians about 'iaxis',
(see the Rotations Required Reading document) then 'mout' is
given by the following matrix equation:
mout = [angle] * m1
iaxis
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.
%
% Rotate the 3x3 identity matrix by 90 degrees about
% the y axis.
%
%
% Create the 3x3 identity matrix.
%
ident = eye(3);
%
% Rotate 'ident' by Pi/2 about the Y axis.
%
r = cspice_rotmat( ident, cspice_halfpi, 2 )
MATLAB outputs:
r =
0.0000 0 1.0000
0 1.0000 0
1.0000 0 0.0000
None.
For important details concerning this module's function, please refer to
the CSPICE routine rotmat_c.
MICE.REQ
ROTATION.REQ
Mice Version 1.1.1, 10MAR2015, EDW (JPL)
Edited I/O section to conform to NAIF standard for Mice documentation.
Mice Version 1.1.0, 24JAN2009, EDW (JPL)
Corrected the function definition name. This wrapper had a
the function name "cspice_rotate" instead of "cspice_rotmat."
Mice Version 1.0.0, 17JAN2006, EDW (JPL)
rotate a matrix
