rz¶

erfa.rz(psi, r)[source]¶

Rotate an r-matrix about the z-axis.

Parameters:

psidouble array
rdouble array

Returns:

rdouble array

Notes

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

- - - - - -
 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  )

This revision:  2021 May 11

Copyright (C) 2013-2023, NumFOCUS Foundation.
Derived, with permission, from the SOFA library.  See notes at end of file.

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rz¶