Method: Matrix.rot

Defined in:
lib/openc3/core_ext/matrix.rb

.rot(axis, rotation_angle_in_radians) ⇒ Object

Creates a rotation matrix around one axis as defined by: mathworld.wolfram.com/RotationMatrix.html

Parameters:

  • axis (Symbol) —

    Must be :X,:x,1, or :Y,:y,2, or :Z,:z,3

  • rotation_angle_in_radians (Float) —

    The rotation angle in radians to rotate the maxtrix about the given axis



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# File 'lib/openc3/core_ext/matrix.rb', line 61

def self.rot(axis, rotation_angle_in_radians)
  rotation_matrix = Matrix.identity(3).to_a

  case axis
  when :X, :x, 1
    rotation_matrix[1][1] = cos(rotation_angle_in_radians)
    rotation_matrix[1][2] = sin(rotation_angle_in_radians)
    rotation_matrix[2][2] = rotation_matrix[1][1]
    rotation_matrix[2][1] = -(rotation_matrix[1][2])
  when :Y, :y, 2
    rotation_matrix[0][0] = cos(rotation_angle_in_radians)
    rotation_matrix[2][0] = sin(rotation_angle_in_radians)
    rotation_matrix[2][2] = rotation_matrix[0][0]
    rotation_matrix[0][2] = -(rotation_matrix[2][0])
  when :Z, :z, 3
    rotation_matrix[0][0] = cos(rotation_angle_in_radians)
    rotation_matrix[0][1] = sin(rotation_angle_in_radians)
    rotation_matrix[1][1] = rotation_matrix[0][0]
    rotation_matrix[1][0] = -(rotation_matrix[0][1])
  end

  return Matrix[*rotation_matrix]
end