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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
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