SUBROUTINE iau_RZ ( PSI, R ) *+ * - - - - - - - * i a u _ R Z * - - - - - - - * * Rotate an r-matrix about the z-axis. * * This routine is part of the International Astronomical Union's * SOFA (Standards of Fundamental Astronomy) software collection. * * Status: vector/matrix support routine. * * Given: * PSI d angle (radians) * * Given and returned: * R d(3,3) r-matrix, rotated * * Notes: * * 1) Calling this routine 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: 2012 April 3 * * SOFA release 2017-04-20 * * Copyright (C) 2017 IAU SOFA Board. See notes at end. * *----------------------------------------------------------------------- IMPLICIT NONE DOUBLE PRECISION PSI, R(3,3) DOUBLE PRECISION S, C, A11, A12, A13, A21, A22, A23 * - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - S = SIN(PSI) C = COS(PSI) A11 = C*R(1,1) + S*R(2,1) A12 = C*R(1,2) + S*R(2,2) A13 = C*R(1,3) + S*R(2,3) A21 = - S*R(1,1) + C*R(2,1) A22 = - S*R(1,2) + C*R(2,2) A23 = - S*R(1,3) + C*R(2,3) R(1,1) = A11 R(1,2) = A12 R(1,3) = A13 R(2,1) = A21 R(2,2) = A22 R(2,3) = A23 * Finished. *+---------------------------------------------------------------------- * * Copyright (C) 2017 * Standards Of Fundamental Astronomy Board * of the International Astronomical Union. * * ===================== * SOFA Software License * ===================== * * NOTICE TO USER: * * BY USING THIS SOFTWARE YOU ACCEPT THE FOLLOWING SIX TERMS AND * CONDITIONS WHICH APPLY TO ITS USE. * * 1. The Software is owned by the IAU SOFA Board ("SOFA"). * * 2. Permission is granted to anyone to use the SOFA software for any * purpose, including commercial applications, free of charge and * without payment of royalties, subject to the conditions and * restrictions listed below. * * 3. You (the user) may copy and distribute SOFA source code to others, * and use and adapt its code and algorithms in your own software, * on a world-wide, royalty-free basis. 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The provision of any version of the SOFA software under the terms * and conditions specified herein does not imply that future * versions will also be made available under the same terms and * conditions. * * In any published work or commercial product which uses the SOFA * software directly, acknowledgement (see www.iausofa.org) is * appreciated. * * Correspondence concerning SOFA software should be addressed as * follows: * * By email: sofa@ukho.gov.uk * By post: IAU SOFA Center * HM Nautical Almanac Office * UK Hydrographic Office * Admiralty Way, Taunton * Somerset, TA1 2DN * United Kingdom * *----------------------------------------------------------------------- END