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Update to rotation matrix comments in NWTC Library #2310

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andrew-platt merged 1 commit into from
Jul 10, 2024
Merged

Update to rotation matrix comments in NWTC Library #2310

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8 changes: 4 additions & 4 deletions modules/nwtc-library/src/NWTC_Num.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -1687,8 +1687,8 @@ FUNCTION EqualRealNos8 ( ReNum1, ReNum2 )

END FUNCTION EqualRealNos8
!=======================================================================
!> This function creates a rotation matrix, M, from a 1-2-3 rotation
!! sequence of the 3 Euler angles, \f$\theta_x\f$, \f$\theta_y\f$, and \f$\theta_z\f$, in radians.
!> This function creates a rotation matrix, M, from a 3-2-1 intrinsic rotation
!! sequence of the 3 Tait-Bryan angles (1-2-3 extrinsic rotation), \f$\theta_x\f$, \f$\theta_y\f$, and \f$\theta_z\f$, in radians.
!! M represents a change of basis (from global to local coordinates;
!! not a physical rotation of the body). It is the inverse of EulerExtract (nwtc_num::eulerextract).
!!
Expand Down Expand Up @@ -1752,8 +1752,8 @@ END FUNCTION EulerConstructR4
!> \copydoc nwtc_num::eulerconstructr4
FUNCTION EulerConstructR8(theta) result(M)

! this function creates a rotation matrix, M, from a 1-2-3 rotation
! sequence of the 3 Euler angles, theta_x, theta_y, and theta_z, in radians.
! this function creates a rotation matrix, M, from a 3-2-1 intrinsic rotation
!! sequence of the 3 Tait-Bryan angles (1-2-3 extrinsic rotation), theta_x, theta_y, and theta_z, in radians.
! M represents a change of basis (from global to local coordinates;
! not a physical rotation of the body). it is the inverse of EulerExtract (nwtc_num::eulerextract).
!
Expand Down