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+      SUBROUTINE slEULR (ORDER, PHI, THETA, PSI, RMAT)
+*+
+*     - - - - - -
+*      E U L R
+*     - - - - - -
+*
+*  Form a rotation matrix from the Euler angles - three successive
+*  rotations about specified Cartesian axes (single precision)
+*
+*  Given:
+*    ORDER  c*(*)    specifies about which axes the rotations occur
+*    PHI    r        1st rotation (radians)
+*    THETA  r        2nd rotation (   "   )
+*    PSI    r        3rd rotation (   "   )
+*
+*  Returned:
+*    RMAT   r(3,3)   rotation matrix
+*
+*  A rotation is positive when the reference frame rotates
+*  anticlockwise as seen looking towards the origin from the
+*  positive region of the specified axis.
+*
+*  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 Z-axis, followed by THETA radians about the resulting X-axis,
+*  then PSI radians about the resulting Z-axis.
+*
+*  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 xyz (=123)
+*  triad is right-handed.  Thus, the 'ZXZ' example given above
+*  could be written 'zxz' or '313' (or even 'ZxZ' or '3xZ').  ORDER
+*  is terminated by length or by the first unrecognized character.
+*
+*  Fewer than three rotations are acceptable, in which case the later
+*  angle arguments are ignored.  If all rotations are zero, the
+*  identity matrix is produced.
+*
+*  Called:  slDEUL
+*
+*  P.T.Wallace   Starlink   23 May 1997
+*
+*  Copyright (C) 1997 Rutherford Appleton Laboratory
+*
+*  License:
+*    This program is free software; you can redistribute it and/or modify
+*    it under the terms of the GNU General Public License as published by
+*    the Free Software Foundation; either version 2 of the License, or
+*    (at your option) any later version.
+*
+*    This program is distributed in the hope that it will be useful,
+*    but WITHOUT ANY WARRANTY; without even the implied warranty of
+*    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+*    GNU General Public License for more details.
+*
+*    You should have received a copy of the GNU General Public License
+*    along with this program (see SLA_CONDITIONS); if not, write to the
+*    Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
+*    Boston, MA  02110-1301  USA
+*
+*  Copyright (C) 1995 Association of Universities for Research in Astronomy Inc.
+*-
+
+      IMPLICIT NONE
+
+      CHARACTER*(*) ORDER
+      REAL PHI,THETA,PSI,RMAT(3,3)
+
+      INTEGER J,I
+      DOUBLE PRECISION W(3,3)
+
+
+
+*  Compute matrix in double precision
+      CALL slDEUL(ORDER,DBLE(PHI),DBLE(THETA),DBLE(PSI),W)
+
+*  Copy the result
+      DO J=1,3
+         DO I=1,3
+            RMAT(I,J) = REAL(W(I,J))
+         END DO
+      END DO
+
+      END