# RCNVRT

Utility/GeneralConverts rotational coordinates between the various supported representations.

## Use

This function can be called by any user-defined subroutine.

## Format

Fortran Calling Syntax
CALL RCNVRT(SYS1, COORD1, SYS2, COORD2, ISTAT)
C/C++ Calling Syntax
c_rcnvrt(sys1, coord1, sys2, coord2, istat)
Python Calling Syntax
[coord2, istat] = py_rcnvrt(sys1, coord1, sys2)
MATLAB Calling Syntax
[coord2, istat] = m_rcnvrt(sys1, coord1, sys2)

## Attributes

SYS1
[string]
A string specifying the system in which the values are passed in coord1.
COORD1
[double precision]
An array containing the coordinates to be converted. Angles should be input in radians.
SYS2
[string]
A string specifying the system in which the values are returned as output in coord2.

## Output

COORD2
[double precision]
An array containing the converted coordinates. Angles are output in radians.
ISTAT
[integer]
A variable indicating the success or the reason for the failure of the call to RCNVRT.
Possible values are:
istat = 0
Success in conversion.
istat = -10
Error in conversion.

A possible reason for an error in the conversion is a misspelled keyword for SYS1 or SYS2.

## Comments

The following table lists the valid options you may specify for SYS1 or SYS2 and the corresponding sizes of the input or output arrays COORD1 or COORD2.

SYS1/SYS2 Description COORD1/COORD2 Size COORD1/COORD2 Contents
EULER Euler angles 3 [angle1, angle2, angle3]
EULPAR Euler parameters 4 [e0, e1, e2, e3]
RODPAR Rodrigues parameters 3 [r1, r2, r3]
AXAYAZ Rotational displacements about X, Y and Z axes 3 [angle1, angle2, angle3]
YPR Yaw, pitch and roll angles 3 [angle1, angle2, angle3]
COSINES Direction cosines 9 [a11, a21, a31,

a12, a22, a32,

a13, a23, a33]

B313 Body 3-1-3 3 [angle1, angle2, angle3]
B321 Body 3-2-1 3 [angle1, angle2, angle3]
B312 Body 3-1-2 3 [angle1, angle2, angle3]
B323 Body 3-2-3 3 [angle1, angle2, angle3]
B123 Body 1-2-3 3 [angle1, angle2, angle3]
BRYANT Bryant angles 3 [b1, b2, b3]
B132 Body 1-3-2 3 [angle1, angle2, angle3]
B121 Body 1-2-1 3 [angle1, angle2, angle3]
B131 Body 1-3-1 3 [angle1, angle2, angle3]
B231 Body 2-3-1 3 [angle1, angle2, angle3]
B213 Body 2-1-3 3 [angle1, angle2, angle3]
B212 Body 2-1-2 3 [angle1, angle2, angle3]
B232 Body 2-3-2 3 [angle1, angle2, angle3]
S313 Space 3-1-3 3 [angle1, angle2, angle3]
S321 Space 3-2-1 3 [angle1, angle2, angle3]
S312 Space 3-1-2 3 [angle1, angle2, angle3]
S323 Space 3-2-3 3 [angle1, angle2, angle3]
S123 Space 1-2-3 3 [angle1, angle2, angle3]
S132 Space 1-3-2 3 [angle1, angle2, angle3]
S121 Space 1-2-1 3 [angle1, angle2, angle3]
S131 Space 1-3-1 3 [angle1, angle2, angle3]
S231 Space 2-3-1 3 [angle1, angle2, angle3]
S213 Space 2-1-3 3 [angle1, angle2, angle3]
S212 Space 2-1-2 3 [angle1, angle2, angle3]
S232 Space 2-3-2 3 [angle1, angle2, angle3]