Function lupnt::RotZ

• Defined in File math_utils.cc

Function Documentation

Mat3 lupnt::RotZ(Real angle)

Passive rotation matrix about the z-axis.

Passive (frame-rotation) rotation matrix about the z-axis by angle. See RotX for sign/passive convention. Used e.g. by EarthSiderealRotation/ RotSideralMotion to build the Earth-rotation-angle rotation Rz(theta_ERA).

Parameters:

angle – Angle in radians

Returns:

Rotation matrix