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diff --git a/src/slalib/sun67.htx/node101.html b/src/slalib/sun67.htx/node101.html new file mode 100644 index 0000000..e5bdda2 --- /dev/null +++ b/src/slalib/sun67.htx/node101.html @@ -0,0 +1,132 @@ +<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 3.2//EN"> +<!--Converted with LaTeX2HTML 97.1 (release) (July 13th, 1997) + by Nikos Drakos (nikos@cbl.leeds.ac.uk), CBLU, University of Leeds +* revised and updated by: Marcus Hennecke, Ross Moore, Herb Swan +* with significant contributions from: + Jens Lippman, Marek Rouchal, Martin Wilck and others --> +<HTML> +<HEAD> +<TITLE>SLA_EULER - Rotation Matrix from Euler Angles</TITLE> +<META NAME="description" CONTENT="SLA_EULER - Rotation Matrix from Euler Angles"> +<META NAME="keywords" CONTENT="sun67"> +<META NAME="resource-type" CONTENT="document"> +<META NAME="distribution" CONTENT="global"> +<META HTTP-EQUIV="Content-Type" CONTENT="text/html; charset=iso_8859_1"> +<LINK REL="STYLESHEET" HREF="sun67.css"> +<LINK REL="next" HREF="node102.html"> +<LINK REL="previous" HREF="node100.html"> +<LINK REL="up" HREF="node13.html"> +<LINK REL="next" HREF="node102.html"> +</HEAD> +<BODY > +<BR> <HR> +<A NAME="tex2html1436" HREF="node102.html"> +<IMG WIDTH="37" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="next" SRC="next_motif.gif"></A> +<A NAME="tex2html1434" HREF="node13.html"> +<IMG WIDTH="26" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="up" SRC="up_motif.gif"></A> +<A NAME="tex2html1428" HREF="node100.html"> +<IMG WIDTH="63" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="previous" SRC="previous_motif.gif"></A> <A HREF="sun67.html#stardoccontents"><IMG ALIGN="BOTTOM" BORDER="0" + SRC="contents_motif.gif"></A> +<BR> +<B> Next:</B> <A NAME="tex2html1437" HREF="node102.html">SLA_EVP - Earth Position & Velocity</A> +<BR> +<B>Up:</B> <A NAME="tex2html1435" HREF="node13.html">SUBPROGRAM SPECIFICATIONS</A> +<BR> +<B> Previous:</B> <A NAME="tex2html1429" HREF="node100.html">SLA_ETRMS - E-terms of Aberration</A> +<BR> <HR> <P> +<P><!--End of Navigation Panel--> +<H2><A NAME="SECTION000488000000000000000">SLA_EULER - Rotation Matrix from Euler Angles</A> +<A NAME="xref_SLA_EULER"> </A><A NAME="SLA_EULER"> </A> +</H2> + <DL> +<DT><STRONG>ACTION:</STRONG> +<DD>Form a rotation matrix from the Euler angles - three +successive rotations about specified Cartesian axes + (single precision). +<P> <DT><STRONG>CALL:</STRONG> +<DD><TT>CALL sla_EULER (ORDER, PHI, THETA, PSI, RMAT)</TT> +<P> </DL> +<P> <DL> +<DT><STRONG>GIVEN:</STRONG> +<DD> +<BR> +<TABLE CELLPADDING=3> +<TR VALIGN="TOP"><TD ALIGN="LEFT"><EM>ORDER</EM></TD> +<TH ALIGN="LEFT"><B>C*(*)</B></TH> +<TD ALIGN="LEFT" NOWRAP>specifies about which axes the rotations occur</TD> +</TR> +<TR VALIGN="TOP"><TD ALIGN="LEFT"><EM>PHI</EM></TD> +<TD ALIGN="LEFT"><B>R</B></TD> +<TD ALIGN="LEFT" NOWRAP>1st rotation (radians)</TD> +</TR> +<TR VALIGN="TOP"><TD ALIGN="LEFT"><EM>THETA</EM></TD> +<TD ALIGN="LEFT"><B>R</B></TD> +<TD ALIGN="LEFT" NOWRAP>2nd rotation (radians)</TD> +</TR> +<TR VALIGN="TOP"><TD ALIGN="LEFT"><EM>PSI</EM></TD> +<TD ALIGN="LEFT"><B>R</B></TD> +<TD ALIGN="LEFT" NOWRAP>3rd rotation (radians)</TD> +</TR> +</TABLE></DL> +<P> <DL> +<DT><STRONG>RETURNED:</STRONG> +<DD> +<BR> +<TABLE CELLPADDING=3> +<TR VALIGN="TOP"><TD ALIGN="LEFT"><EM>RMAT</EM></TD> +<TH ALIGN="LEFT"><B>R(3,3)</B></TH> +<TD ALIGN="LEFT" NOWRAP>rotation matrix</TD> +</TR> +</TABLE></DL> +<P> <DL> +<DT><STRONG>NOTES:</STRONG> +<DD><DL COMPACT> +<DT>1. +<DD>A rotation is positive when the reference frame rotates +anticlockwise as seen looking towards the origin from the +positive region of the specified axis. + <DT>2. +<DD>The characters of ORDER define which axes the three successive + rotations are about. A typical value is `ZXZ', indicating that + RMAT is to become the direction cosine matrix corresponding to + rotations of the reference frame through PHI radians about the + old <I>z</I>-axis, followed by THETA radians about the resulting + <I>x</I>-axis, + then PSI radians about the resulting <I>z</I>-axis. In detail: + <UL> +<LI> The axis names can be any of the following, in any order or + combination: X, Y, Z, uppercase or lowercase, 1, 2, 3. Normal + axis labelling/numbering conventions apply; + the <I>xyz</I> (<IMG WIDTH="44" HEIGHT="14" ALIGN="BOTTOM" BORDER="0" + SRC="img67.gif" + ALT="$\equiv123$">) triad is right-handed. Thus, the `ZXZ' example given above + could be written `zxz' or `313' (or even `ZxZ' or `3xZ'). +<LI> ORDER is terminated by length or by the first unrecognized + character. +<LI> Fewer than three rotations are acceptable, in which case + the later angle arguments are ignored. + </UL> + <DT>3. +<DD>Zero rotations produces a unit RMAT. + </DL></DL> +<BR> <HR> +<A NAME="tex2html1436" HREF="node102.html"> +<IMG WIDTH="37" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="next" SRC="next_motif.gif"></A> +<A NAME="tex2html1434" HREF="node13.html"> +<IMG WIDTH="26" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="up" SRC="up_motif.gif"></A> +<A NAME="tex2html1428" HREF="node100.html"> +<IMG WIDTH="63" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="previous" SRC="previous_motif.gif"></A> <A HREF="sun67.html#stardoccontents"><IMG ALIGN="BOTTOM" BORDER="0" + SRC="contents_motif.gif"></A> +<BR> +<B> Next:</B> <A NAME="tex2html1437" HREF="node102.html">SLA_EVP - Earth Position & Velocity</A> +<BR> +<B>Up:</B> <A NAME="tex2html1435" HREF="node13.html">SUBPROGRAM SPECIFICATIONS</A> +<BR> +<B> Previous:</B> <A NAME="tex2html1429" HREF="node100.html">SLA_ETRMS - E-terms of Aberration</A> +<BR> <HR> <P> +<P><!--End of Navigation Panel--> +<ADDRESS> +<I>SLALIB --- Positional Astronomy Library<BR>Starlink User Note 67<BR>P. T. Wallace<BR>12 October 1999<BR>E-mail:ptw@star.rl.ac.uk</I> +</ADDRESS> +</BODY> +</HTML> |