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authorJoe Hunkeler <jhunkeler@gmail.com>2015-08-11 16:51:37 -0400
committerJoe Hunkeler <jhunkeler@gmail.com>2015-08-11 16:51:37 -0400
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+.help m2av Jun99 "Slalib Package"
+.nf
+
+ SUBROUTINE slM2AV (RMAT, AXVEC)
+
+ - - - - -
+ M 2 A V
+ - - - - -
+
+ From a rotation matrix, determine the corresponding axial vector
+ (single precision)
+
+ A rotation matrix describes a rotation about some arbitrary axis.
+ The axis is called the Euler axis, and the angle through which the
+ reference frame rotates is called the Euler angle. The axial
+ vector returned by this routine has the same direction as the
+ Euler axis, and its magnitude is the Euler angle in radians. (The
+ magnitude and direction can be separated by means of the routine
+ slVN.)
+
+ Given:
+ RMAT r(3,3) rotation matrix
+
+ Returned:
+ AXVEC r(3) axial vector (radians)
+
+ The reference frame rotates clockwise as seen looking along
+ the axial vector from the origin.
+
+ If RMAT is null, so is the result.
+
+ P.T.Wallace Starlink 11 April 1990
+
+ Copyright (C) 1995 Rutherford Appleton Laboratory
+ Copyright (C) 1995 Association of Universities for Research in Astronomy Inc.
+
+.fi
+.endhelp