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Abstract
I/O
Examples
Particulars
Required Reading
Version
Index_Entries

Abstract


   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.

I/O


   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 z-axis.

              [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

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.

      %
      % 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

Particulars


   None.

Required Reading


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

   MICE.REQ
   ROTATION.REQ

Version


   -Mice Version 1.1.1, 10-MAR-2015, EDW (JPL)

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

   -Mice Version 1.1.0, 24-JAN-2009, 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, 17-JAN-2006, EDW (JPL)

Index_Entries


   rotate a matrix


Wed Apr  5 18:00:34 2017