RCNVRT

Subroutine Type

Utility/General

Definition

Converts rotational coordinates between the various supported representations.

Use

This function can be called by any user-defined subroutine.

Calling Syntax

Fortran

CALL RCNVRT(SYS1, COORD1, SYS2, COORD2, ISTAT)

c_rcnvrt(sys1, coord1, sys2, coord2, istat)

Python

[coord2, istat] = py_rcnvrt(sys1, coord1, sys2)

MATLAB

[coord2, istat] = m_rcnvrt(sys1, coord1, sys2)

Input Arguments

[string] SYS1

A string specifying the system in which the values are passed in coord1.

[double precision] COORD1

An array containing the coordinates to be converted. Angles should be input in radians.

[string] SYS2

A string specifying the system in which the values are returned as output in coord2.

Output Values

[double precision] COORD2

An array containing the converted coordinates. Angles are output in radians.

[integer] ISTAT

A variable indicating the success or the reason for the failure of the call to RCNVRT.

Possible values are:

istat = 0 : Success in conversion

istat = -10 : Error in conversion

A possible reason for an error in the conversion is a misspelled keyword for SYS1 or SYS2.

Comments

The following table lists the valid options you may specify for SYS1 or SYS2 and the corresponding sizes of the input or output arrays COORD1 or COORD2.

SYS1/SYS2	Description	COORD1/COORD2 Size	COORD1/COORD2 Contents
EULER	Euler angles	3	[angle1, angle2, angle3]
EULPAR	Euler parameters	4	[e0, e1, e2, e3]
RODPAR	Rodrigues parameters	3	[r1, r2, r3]
AXAYAZ	Rotational displacements about X, Y and Z axes	3	[angle1, angle2, angle3]
YPR	Yaw, pitch and roll angles	3	[angle1, angle2, angle3]
COSINES	Direction cosines	9	[a11, a21, a31, a12, a22, a32, a13, a23, a33]
B313	Body 3-1-3	3	[angle1, angle2, angle3]
B321	Body 3-2-1	3	[angle1, angle2, angle3]
B312	Body 3-1-2	3	[angle1, angle2, angle3]
B323	Body 3-2-3	3	[angle1, angle2, angle3]
B123	Body 1-2-3	3	[angle1, angle2, angle3]
BRYANT	Bryant angles	3	[b1, b2, b3]
B132	Body 1-3-2	3	[angle1, angle2, angle3]
B121	Body 1-2-1	3	[angle1, angle2, angle3]
B131	Body 1-3-1	3	[angle1, angle2, angle3]
B231	Body 2-3-1	3	[angle1, angle2, angle3]
B213	Body 2-1-3	3	[angle1, angle2, angle3]
B212	Body 2-1-2	3	[angle1, angle2, angle3]
B232	Body 2-3-2	3	[angle1, angle2, angle3]
S313	Space 3-1-3	3	[angle1, angle2, angle3]
S321	Space 3-2-1	3	[angle1, angle2, angle3]
S312	Space 3-1-2	3	[angle1, angle2, angle3]
S323	Space 3-2-3	3	[angle1, angle2, angle3]
S123	Space 1-2-3	3	[angle1, angle2, angle3]
S132	Space 1-3-2	3	[angle1, angle2, angle3]
S121	Space 1-2-1	3	[angle1, angle2, angle3]
S131	Space 1-3-1	3	[angle1, angle2, angle3]
S231	Space 2-3-1	3	[angle1, angle2, angle3]
S213	Space 2-1-3	3	[angle1, angle2, angle3]
S212	Space 2-1-2	3	[angle1, angle2, angle3]
S232	Space 2-3-2	3	[angle1, angle2, angle3]