Merge b389ef2 into 95511f6

.gitignore

@@ -16,3 +16,4 @@ deps/windows/usr/
 deps/windows/x64
 docs/build/
 test/kernels/
+deps/build.log

src/e.jl

@@ -0,0 +1,29 @@
+export eul2m
+
+"""
+    eul2m(angle3, angle2, angle1, axis3, axis2, axis1)
+
+Construct a rotation matrix from a set of Euler angles.
+
+### Arguments ###
+
+- `angle3`, `angle2`, `angle1`: Rotation angles about third, second, and first rotation axes (radians)
+- `axis3`, `axis2`, `axis1`: Axis numbers of third, second, and first rotation axes
+
+### Output ###
+
+A rotation matrix corresponding to the product of the 3 rotations.
+
+### References ###
+
+- [NAIF Documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/eul2m_c.html)
+"""
+function eul2m(angle3, angle2, angle1, axis3, axis2, axis1)
+    r = Matrix{SpiceDouble}(undef, 3, 3)
+    ccall((:eul2m_c, libcspice), Cvoid,
+          (SpiceDouble, SpiceDouble, SpiceDouble, SpiceInt, SpiceInt, SpiceInt, Ptr{SpiceDouble}),
+          angle3, angle2, angle1, axis3, axis2, axis1, r)
+    handleerror()
+    permutedims(r)
+
+end

src/q.jl

@@ -0,0 +1,27 @@
+export q2m
+
+"""
+    q2m(q...)
+
+Find the rotation matrix corresponding to a specified unit quaternion.
+
+### Arguments ###
+
+- `q`: A unit quaternion (as any kind of iterable with four elements)
+
+### Output ###
+
+A rotation matrix corresponding to `q`.
+
+### References ###
+
+- [NAIF Documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/q2m_c.html)
+"""
+q2m(q...) = q2m(collect(q))
+
+function q2m(q)
+    length(q) != 4 && throw(ArgumentError("`q` needs to be an iterable with four elements."))    
+    r = Matrix{SpiceDouble}(undef, 3, 3)
+    ccall((:q2m_c, libcspice), Cvoid, (Ptr{SpiceDouble}, Ptr{SpiceDouble}), collect(q), r)
+    permutedims(r)
+end

src/r.jl

@@ -1,4 +1,6 @@
-export rav2xf
+export 
+    rav2xf,
+    rotate
 
 """
     rav2xf(rot, av)
@@ -27,3 +29,29 @@ function rav2xf(rot, av)
     xform
 end
 
+"""
+    rotate(angle, iaxis)
+
+ Calculate the 3x3 rotation matrix generated by a rotation 
+of a specified angle about a specified axis. This rotation 
+is thought of as rotating the coordinate system. 
+ 
+### Arguments ###
+
+- `angle`: Angle of rotation (radians)
+- `iaxis`: Axis of rotation (X=1, Y=2, Z=3)
+
+### Output ###
+
+Returns rotation matrix associated with `angle` and `iaxis`.
+
+### References ###
+
+- [NAIF Documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/rotate_c.html)
+"""
+function rotate(angle, iaxis)
+    r = Matrix{SpiceDouble}(undef, 3, 3)
+    ccall((:rotate_c, libcspice), Cvoid, (SpiceDouble, SpiceInt, Ptr{SpiceDouble}), angle, iaxis, r)
+    permutedims(r)
+end
+

test/e.jl

@@ -0,0 +1,15 @@
+@testset "E" begin
+    let 
+        act = eul2m(3, 2, 1, 3, 2, 1)
+
+        @test size(act) == (3, 3)
+
+        exp = [0.411982245665683 -0.6812427202564033 0.6051272472413688;
+               0.05872664492762098 -0.642872836134547 -0.7637183366502791;
+               0.9092974268256817 0.35017548837401463  -0.2248450953661529]
+
+        @testset for i in eachindex(act, exp)
+            @test act[i] ≈ exp[i]
+        end
+    end
+end

test/m.jl

@@ -1,6 +1,18 @@
 @testset "M" begin 
-    matrix = [1. 1. 1. 
+    let 
+        matrix = [1. 1. 1. 
                 2. 3. 4.]
-    vecgood = [1., 2., 3.]
-    @test mxvg(matrix, vecgood) == [6.,20.]
+        vecgood = [1., 2., 3.]
+        @test mxvg(matrix, vecgood) == [6.,20.]
+    end
+
+    let 
+        # r = spice.rotate(spice.halfpi(), 3)
+
+        # q = spice.m2q(r)
+
+        # expected = [np.sqrt(2) / 2.0, 0.0, 0.0, -np.sqrt(2) / 2.0]
+
+        # np.testing.assert_array_almost_equal(expected, q, decimal = 6)
+    end
 end 

test/q.jl

@@ -0,0 +1,40 @@
+@testset "Q" begin
+    let expected = [0.607843137254902 0.27450980392156854 0.7450980392156862;
+                0.6666666666666666 0.33333333333333326 -0.6666666666666666;
+                -0.43137254901960775 0.9019607843137255 0.019607843137254832]
+        actual = q2m(0.5, 0.4, 0.3, 0.1)
+        @testset for i in eachindex(actual, expected)
+            @test actual[i] ≈ expected[i]
+        end
+        q = [0.5, 0.4, 0.3, 0.1]
+        actual = q2m(q)
+        @testset for i in eachindex(actual, expected)
+            @test actual[i] ≈ expected[i]
+        end
+        q = (0.5, 0.4, 0.3, 0.1)
+        actual = q2m(q)
+        @testset for i in eachindex(actual, expected)
+            @test actual[i] ≈ expected[i]
+        end
+    end
+
+    let angle = deg2rad.([-20.0, 50.0, -60.0])
+
+        m = eul2m(angle[3], angle[2], angle[1], 3, 1, 3)
+
+        # q = spice.m2q(m)
+
+        # expav = [1.0, 2.0, 3.0]
+
+        # qav = [0.0, 1.0, 2.0, 3.0]
+
+        # dq = spice.qxq(q, qav)
+
+        # dq = [-0.5 * x for x in dq]
+
+        # av = spice.qdq2av(q, dq)
+
+        # npt.assert_array_almost_equal(av, expav)
+    end
+
+end

test/r.jl

@@ -0,0 +1,15 @@
+@testset "R" begin 
+    let 
+        act = rotate(π/4, 3)
+
+        exp = [sqrt(2)/2.0 sqrt(2)/2.0 0.0;
+              -sqrt(2)/2.0 sqrt(2)/2.0 0.0;
+               0.0 0.0 1.0]
+
+        @testset for i in eachindex(act, exp)
+             @test act[i] ≈ exp[i]
+         end
+    end
+
+
+end