| 1 | #include "erfa.h"
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| 2 |
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| 3 | void eraRz(double psi, double r[3][3])
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| 4 | /*
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| 5 | ** - - - - - -
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| 6 | ** e r a R z
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| 7 | ** - - - - - -
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| 8 | **
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| 9 | ** Rotate an r-matrix about the z-axis.
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| 10 | **
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| 11 | ** Given:
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| 12 | ** psi double angle (radians)
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| 13 | **
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| 14 | ** Given and returned:
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| 15 | ** r double[3][3] r-matrix, rotated
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| 16 | **
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| 17 | ** Notes:
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| 18 | **
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| 19 | ** 1) Calling this function with positive psi incorporates in the
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| 20 | ** supplied r-matrix r an additional rotation, about the z-axis,
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| 21 | ** anticlockwise as seen looking towards the origin from positive z.
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| 22 | **
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| 23 | ** 2) The additional rotation can be represented by this matrix:
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| 24 | **
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| 25 | ** ( + cos(psi) + sin(psi) 0 )
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| 26 | ** ( )
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| 27 | ** ( - sin(psi) + cos(psi) 0 )
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| 28 | ** ( )
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| 29 | ** ( 0 0 1 )
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| 30 | **
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| 31 | ** Copyright (C) 2013-2016, NumFOCUS Foundation.
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| 32 | ** Derived, with permission, from the SOFA library. See notes at end of file.
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| 33 | */
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| 34 | {
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| 35 | double s, c, a00, a01, a02, a10, a11, a12;
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| 36 |
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| 37 |
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| 38 | s = sin(psi);
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| 39 | c = cos(psi);
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| 40 |
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| 41 | a00 = c*r[0][0] + s*r[1][0];
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| 42 | a01 = c*r[0][1] + s*r[1][1];
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| 43 | a02 = c*r[0][2] + s*r[1][2];
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| 44 | a10 = - s*r[0][0] + c*r[1][0];
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| 45 | a11 = - s*r[0][1] + c*r[1][1];
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| 46 | a12 = - s*r[0][2] + c*r[1][2];
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| 47 |
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| 48 | r[0][0] = a00;
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| 49 | r[0][1] = a01;
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| 50 | r[0][2] = a02;
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| 51 | r[1][0] = a10;
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| 52 | r[1][1] = a11;
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| 53 | r[1][2] = a12;
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| 54 |
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| 55 | return;
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| 56 |
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| 57 | }
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| 58 | /*----------------------------------------------------------------------
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| 59 | **
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| 60 | **
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| 61 | ** Copyright (C) 2013-2016, NumFOCUS Foundation.
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| 62 | ** All rights reserved.
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| 63 | **
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| 64 | ** This library is derived, with permission, from the International
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| 65 | ** Astronomical Union's "Standards of Fundamental Astronomy" library,
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| 66 | ** available from http://www.iausofa.org.
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| 67 | **
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| 68 | ** The ERFA version is intended to retain identical functionality to
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| 69 | ** the SOFA library, but made distinct through different function and
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| 70 | ** file names, as set out in the SOFA license conditions. The SOFA
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| 71 | ** original has a role as a reference standard for the IAU and IERS,
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| 72 | ** and consequently redistribution is permitted only in its unaltered
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| 73 | ** state. The ERFA version is not subject to this restriction and
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| 74 | ** therefore can be included in distributions which do not support the
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| 75 | ** concept of "read only" software.
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| 76 | **
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| 77 | ** Although the intent is to replicate the SOFA API (other than
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| 78 | ** replacement of prefix names) and results (with the exception of
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| 79 | ** bugs; any that are discovered will be fixed), SOFA is not
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| 80 | ** responsible for any errors found in this version of the library.
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| 81 | **
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| 82 | ** If you wish to acknowledge the SOFA heritage, please acknowledge
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| 83 | ** that you are using a library derived from SOFA, rather than SOFA
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| 84 | ** itself.
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| 85 | **
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| 86 | **
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| 87 | ** TERMS AND CONDITIONS
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| 88 | **
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| 89 | ** Redistribution and use in source and binary forms, with or without
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| 90 | ** modification, are permitted provided that the following conditions
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| 91 | ** are met:
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| 92 | **
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| 93 | ** 1 Redistributions of source code must retain the above copyright
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| 94 | ** notice, this list of conditions and the following disclaimer.
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| 95 | **
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| 96 | ** 2 Redistributions in binary form must reproduce the above copyright
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| 97 | ** notice, this list of conditions and the following disclaimer in
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| 98 | ** the documentation and/or other materials provided with the
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| 99 | ** distribution.
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| 100 | **
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| 101 | ** 3 Neither the name of the Standards Of Fundamental Astronomy Board,
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| 102 | ** the International Astronomical Union nor the names of its
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| 103 | ** contributors may be used to endorse or promote products derived
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| 104 | ** from this software without specific prior written permission.
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| 105 | **
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| 106 | ** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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| 107 | ** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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| 108 | ** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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| 109 | ** FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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| 110 | ** COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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| 111 | ** INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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| 112 | ** BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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| 113 | ** LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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| 114 | ** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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| 115 | ** LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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| 116 | ** ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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| 117 | ** POSSIBILITY OF SUCH DAMAGE.
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| 118 | **
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| 119 | */
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