Function lupnt::RotX

• Defined in File math_utils.cc

Function Documentation

Mat3 lupnt::RotX(Real angle)

Passive rotation matrix about the x-axis.

Passive (frame-rotation) rotation matrix about the x-axis by angle.

Rotates the coordinate frame (not the vector) by angle about x, i.e. transforms a vector’s components from the unrotated frame to the frame rotated by angle about x. Used as a building block for composite Euler-angle rotations throughout conversions/frame_conversions.cc (e.g. polar-motion matrix RotPolarMotion, body-to- ENU rotations, lunar PA/CI Euler-angle reconstruction).

Parameters:

• angle – Angle in radians

• angle – Rotation angle [rad]

Returns:

Rotation matrix

Returns:

3x3 passive rotation matrix about x