slaAv2m -

SYNOPSYS

PARAMETERS

float *axvec

float ( *rmat

DESCRIPTION

  Form the rotation matrix corresponding to a given 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 supplied to this routine has the same direction as the
  Euler axis, and its magnitude is the Euler angle in radians.

Given

    axvec  float[3]     axial vector (radians)

Returned

    rmat   float[3][3]  rotation matrix

  If axvec is null, the unit matrix is returned.

  The reference frame rotates clockwise as seen looking along
  the axial vector from the origin.

  P.T.Wallace   Starlink   25 July 1993

SEE ALSO

• slalib.3