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rectify_compute_rotation_deriv.c
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rectify_compute_rotation_deriv.c
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#include "header.h"
#include "proto.h"
void rectify_compute_rotation_deriv(
double theta,
char axis,
double rot_mat_deriv[9]
)
/*
Compute rotation around given axis
*/
{
double pi=acos(-1);
if ( axis == 'x' ) {
rot_mat_deriv[0*3+0] = 0;
rot_mat_deriv[0*3+1] = 0;
rot_mat_deriv[0*3+2] = 0;
rot_mat_deriv[1*3+0] = 0;
rot_mat_deriv[1*3+1] = cos(theta+pi/2);
rot_mat_deriv[1*3+2] = -sin(theta+pi/2);
rot_mat_deriv[2*3+0] = 0;
rot_mat_deriv[2*3+1] = sin(theta+pi/2);
rot_mat_deriv[2*3+2] = cos(theta+pi/2);
}
else if ( axis == 'y' ) {
rot_mat_deriv[0*3+0] = cos(theta+pi/2);
rot_mat_deriv[0*3+1] = 0;
rot_mat_deriv[0*3+2] = -sin(theta+pi/2);
rot_mat_deriv[1*3+0] = 0;
rot_mat_deriv[1*3+1] = 0;
rot_mat_deriv[1*3+2] = 0;
rot_mat_deriv[2*3+0] = sin(theta+pi/2);
rot_mat_deriv[2*3+1] = 0;
rot_mat_deriv[2*3+2] = cos(theta+pi/2);
}
else if ( axis == 'z' ) {
rot_mat_deriv[0*3+0] = cos(theta+pi/2);
rot_mat_deriv[0*3+1] = -sin(theta+pi/2);
rot_mat_deriv[0*3+2] = 0;
rot_mat_deriv[1*3+0] = sin(theta+pi/2);
rot_mat_deriv[1*3+1] = cos(theta+pi/2);
rot_mat_deriv[1*3+2] = 0;
rot_mat_deriv[2*3+0] = 0;
rot_mat_deriv[2*3+1] = 0;
rot_mat_deriv[2*3+2] = 0;
}
else {
er9b_error_handler("rectify_compute_rotation_deriv");
}
}