| 1 | /*
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| 2 | *+
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| 3 | * Name:
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| 4 | * palDeuler
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| 5 |
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| 6 | * Purpose:
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| 7 | * Form a rotation matrix from the Euler angles
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| 8 |
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| 9 | * Language:
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| 10 | * Starlink ANSI C
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| 11 |
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| 12 | * Type of Module:
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| 13 | * Library routine
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| 14 |
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| 15 | * Invocation:
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| 16 | * void palDeuler ( const char *order, double phi, double theta, double psi,
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| 17 | * double rmat[3][3] );
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| 18 |
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| 19 | * Arguments:
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| 20 | * order = const char[] (Given)
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| 21 | * Specifies about which axes the rotation occurs
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| 22 | * phi = double (Given)
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| 23 | * 1st rotation (radians)
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| 24 | * theta = double (Given)
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| 25 | * 2nd rotation (radians)
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| 26 | * psi = double (Given)
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| 27 | * 3rd rotation (radians)
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| 28 | * rmat = double[3][3] (Given & Returned)
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| 29 | * Rotation matrix
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| 30 |
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| 31 | * Description:
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| 32 | * A rotation is positive when the reference frame rotates
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| 33 | * anticlockwise as seen looking towards the origin from the
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| 34 | * positive region of the specified axis.
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| 35 | *
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| 36 | * The characters of ORDER define which axes the three successive
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| 37 | * rotations are about. A typical value is 'ZXZ', indicating that
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| 38 | * RMAT is to become the direction cosine matrix corresponding to
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| 39 | * rotations of the reference frame through PHI radians about the
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| 40 | * old Z-axis, followed by THETA radians about the resulting X-axis,
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| 41 | * then PSI radians about the resulting Z-axis.
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| 42 | *
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| 43 | * The axis names can be any of the following, in any order or
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| 44 | * combination: X, Y, Z, uppercase or lowercase, 1, 2, 3. Normal
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| 45 | * axis labelling/numbering conventions apply; the xyz (=123)
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| 46 | * triad is right-handed. Thus, the 'ZXZ' example given above
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| 47 | * could be written 'zxz' or '313' (or even 'ZxZ' or '3xZ'). ORDER
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| 48 | * is terminated by length or by the first unrecognized character.
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| 49 | *
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| 50 | * Fewer than three rotations are acceptable, in which case the later
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| 51 | * angle arguments are ignored. If all rotations are zero, the
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| 52 | * identity matrix is produced.
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| 53 |
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| 54 | * Authors:
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| 55 | * PTW: Pat Wallace (STFC)
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| 56 | * TIMJ: Tim Jenness (JAC, Hawaii)
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| 57 | * {enter_new_authors_here}
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| 58 |
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| 59 | * History:
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| 60 | * 2012-02-08 (TIMJ):
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| 61 | * Initial version with documentation taken from Fortran SLA
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| 62 | * Adapted with permission from the Fortran SLALIB library.
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| 63 | * {enter_further_changes_here}
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| 64 |
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| 65 | * Copyright:
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| 66 | * Copyright (C) 1997 Rutherford Appleton Laboratory
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| 67 | * Copyright (C) 2012 Science and Technology Facilities Council.
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| 68 | * All Rights Reserved.
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| 69 |
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| 70 | * Licence:
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| 71 | * This program is free software: you can redistribute it and/or
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| 72 | * modify it under the terms of the GNU Lesser General Public
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| 73 | * License as published by the Free Software Foundation, either
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| 74 | * version 3 of the License, or (at your option) any later
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| 75 | * version.
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| 76 | *
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| 77 | * This program is distributed in the hope that it will be useful,
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| 78 | * but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 79 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 80 | * GNU Lesser General Public License for more details.
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| 81 | *
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| 82 | * You should have received a copy of the GNU Lesser General
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| 83 | * License along with this program. If not, see
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| 84 | * <http://www.gnu.org/licenses/>.
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| 85 |
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| 86 | * Bugs:
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| 87 | * {note_any_bugs_here}
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| 88 | *-
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| 89 | */
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| 90 |
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| 91 | #include "pal.h"
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| 92 | #include "pal1sofa.h"
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| 93 |
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| 94 | void
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| 95 | palDeuler( const char *order, double phi, double theta, double psi,
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| 96 | double rmat[3][3] ) {
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| 97 | int i = 0;
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| 98 | double rotations[3];
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| 99 |
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| 100 | /* Initialise rmat */
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| 101 | eraIr( rmat );
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| 102 |
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| 103 | /* copy the rotations into an array */
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| 104 | rotations[0] = phi;
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| 105 | rotations[1] = theta;
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| 106 | rotations[2] = psi;
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| 107 |
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| 108 | /* maximum three rotations */
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| 109 | while (i < 3 && order[i] != '\0') {
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| 110 |
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| 111 | switch (order[i]) {
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| 112 | case 'X':
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| 113 | case 'x':
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| 114 | case '1':
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| 115 | eraRx( rotations[i], rmat );
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| 116 | break;
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| 117 |
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| 118 | case 'Y':
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| 119 | case 'y':
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| 120 | case '2':
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| 121 | eraRy( rotations[i], rmat );
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| 122 | break;
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| 123 |
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| 124 | case 'Z':
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| 125 | case 'z':
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| 126 | case '3':
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| 127 | eraRz( rotations[i], rmat );
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| 128 | break;
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| 129 |
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| 130 | default:
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| 131 | /* break out the loop if we do not recognize something */
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| 132 | i = 3;
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| 133 |
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| 134 | }
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| 135 |
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| 136 | /* Go to the next position */
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| 137 | i++;
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| 138 | }
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| 139 |
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| 140 | return;
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| 141 | }
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