rz

erfa.rz(psi, r)[source]

Wrapper for ERFA function eraRz.

Parameters

psi : double array

r : double array

Returns

r : double array

Notes

The ERFA documentation is below. Note that, unlike the erfa routine, the python wrapper does not change r in-place.

- - - - - -
 e r a R z
- - - - - -

Rotate an r-matrix about the z-axis.

Given:
   psi    double          angle (radians)

Given and returned:
   r      double[3][3]    r-matrix, rotated

Notes:

1) Calling this function with positive psi incorporates in the
   supplied r-matrix r an additional rotation, about the z-axis,
   anticlockwise as seen looking towards the origin from positive z.

2) The additional rotation can be represented by this matrix:

       (  + cos(psi)   + sin(psi)     0  )
       (                                 )
       (  - sin(psi)   + cos(psi)     0  )
       (                                 )
       (       0            0         1  )

Copyright (C) 2013-2019, NumFOCUS Foundation.
Derived, with permission, from the SOFA library.  See notes at end of file.