From aa1ad90b6286d9ba6a372a27a879d21462d6fde3 Mon Sep 17 00:00:00 2001 From: RyanDavies19 Date: Tue, 9 Jul 2024 09:54:16 -0600 Subject: [PATCH] Update to rotation matrix comments --- modules/nwtc-library/src/NWTC_Num.f90 | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/modules/nwtc-library/src/NWTC_Num.f90 b/modules/nwtc-library/src/NWTC_Num.f90 index 66148d1e3d..1a13202796 100644 --- a/modules/nwtc-library/src/NWTC_Num.f90 +++ b/modules/nwtc-library/src/NWTC_Num.f90 @@ -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). !! @@ -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). !