euler_shiftmat Subroutine

public subroutine euler_shiftmat(euler, seq, world, forward, shiftmat)

Returns the shifter matrix for a set of Euler angles.

Arguments

Type IntentOptional Attributes Name
real(kind=rp), intent(in), dimension(3) :: euler

Euler angles.
character(len=3), intent(in) :: seq

'XYZ'|'XZY' | 'YXZ' | 'YZX' | 'ZXY' | 'ZYX'. Euler angle sequence.
logical, intent(in) :: world

Whether the Euler angles are with respect to the world frame or not.
logical, intent(in) :: forward

Whether to shift forward, i.e., along the orientation or shift reverse.
real(kind=rp), intent(out), dimension(3,3) :: shiftmat

Shifter matrix.