Utilities for manipulation of finite rotations. More...

Data Types
interface	rotationmodule::eccexpand
	Takes into account possible eccentricity. More...

interface	rotationmodule::ffa_eulerzyx
	Computes the EulerZYX angles for a relative rotation. More...

interface	rotationmodule::ffa_glbeulerzyx
	Computes the EulerZYX angles for a global rotation. More...

Modules
module	rotationmodule
	Module with subroutines for manipulation of finite rotations.

Functions/Subroutines
real(dp) function, dimension(3)	rotationmodule::mattoeulerxyz (R, eulerIn, err)
	Converts a rotation matrix (tensor) to EulerXYZ angles. More...

real(dp) function	adjust2pi (a)
	Adjusts an angle such that it is in the interval [0,2π]. More...

real(dp) function	dist (a, b, g)
	Calculates the distance between the angles a,b,g and euler. More...

logical function	setisok (a, b, g)
	Checks the consistency of an Euler angle set. More...

real(dp) function, dimension(3, 3)	rotationmodule::eulertomat (euler)
	Converts a set of EulerXYZ angles into a rotation matrix. More...

subroutine	rotationmodule::vec_to_mat (rvec, rten, lpu)
	Computes the rotation tensor from a rotation vector. More...

subroutine	rotationmodule::mat_to_vec (rten, rvec)
	Computes the rotation vector from a rotation tensor. More...

subroutine	rotationmodule::vec_to_quat (rvec, q, lpu)
	Computes the quaternion representation from a rotation vector. More...

subroutine	rotationmodule::mat_to_quat (rten, q)
	Computes the quaternion representation from a rotation tensor. More...

subroutine	rotationmodule::quat_to_mat (q, rten)
	Computes the rotation tensor from a quaternion representation. More...

subroutine	rotationmodule::quat_to_vec (q, rvec)
	Computes the rotation vector from a quaternion representation. More...

real(dp) function, dimension(3)	rotationmodule::deltarot (T1, T2)
	Computes the incremental rotation vector rotating tensor T1 to T2. More...

subroutine	rotationmodule::orthonorm3 (rten)
	Makes a rotation tensor orthonormal through use of quaternions. More...

subroutine	rotationmodule::spin (vec, mat)
	Computes the spin (skew-symmetric) tensor from the rotation vector. More...

subroutine	rotationmodule::dtheta_domega (thetaVec, jacobiMat, lpu)
	Computes the variation of a rotation pseudo vector. More...

real(dp) function	etafunc (th, lpu)
	Evaluates the parameter η. More...

subroutine	rotationmodule::domega_dtheta (thetaVec, jacobiMat, lpu)
	Computes the inverse of the variation of a rotation pseudo vector. More...

subroutine, private	rotationmodule::eccexpandvec (e, v, vFull)
	Takes into account possible eccentricity. More...

subroutine, private	rotationmodule::eccexpandmat (e, M, Mfull)
	Takes into account possible eccentricity. More...

subroutine, private	rotationmodule::eccexpanddiagmat (e, D, Mfull)
	Takes into account possible eccentricity, for a diagonal matrix D. More...

Variables
real(dp), parameter, private	rotationmodule::epsth2_p = 0.0005_dp
	Angles zero-tolerance. More...

Detailed Description

Utilities for manipulation of finite rotations.

Function/Subroutine Documentation

◆ adjust2pi()

real(dp) function mattoeulerxyz::adjust2pi ( real(dp), intent(in) a )

Adjusts an angle such that it is in the interval [0,2π].

◆ dist()

real(dp) function mattoeulerxyz::dist	(	real(dp), intent(in)	a,
		real(dp), intent(in)	b,
		real(dp), intent(in)	g
	)

Calculates the distance between the angles a,b,g and euler.

◆ etafunc()

real(dp) function dtheta_domega::etafunc	(	real(dp), intent(in)	th,
		integer, intent(in), optional	lpu
	)

Evaluates the parameter η.

◆ setisok()

logical function mattoeulerxyz::setisok	(	real(dp), intent(in)	a,
		real(dp), intent(in)	b,
		real(dp), intent(in)	g
	)

Checks the consistency of an Euler angle set.

Data Types

Modules