APPENDIX A COMPUTER CODE FOR VECTOR ROTATIONS IC REM UNIT VECTOR ROTATION PROGRAM 90 REM 90 REM INITIALIZATION 100 DIM 8(3,3),C(3,3) 101 DIM D(l,3) 102 DIM Z(l,3) 105 DIM A(3,3) 107 REM NOTE THE USE OF MAT STATEMENTS FOR MATRIX ALGEBRA 110 MAT A = IDN 140 MAT Z = ZER 150 Z(l,3) = 1 200 PRINT 'THIS PROGRAM ROTATES UNIT VECTORS AROUND LOCAL AXES AND TELLS YOU' 210 PRINT 'THE DIRECTION COSINES IN TERMS OF YOUR ORIGINAL COORDINATES.' 220 PRINT 'THE UNIT VECTOR ALWAYS STARTS POINTED IN THE Z-DIRECTION OF A' 230 PRINT 'Z = X CROSS Y SYSTEM.' 240 PRINT 289 REM 290 REM INTERROGATION ROUTINE 300 PRINT 320 PRINT 'TYPE IN DESIRED ROTATION BY SPECIFYING:' 330 PRINT ' AXIS, ANGLE IN DEGREES' 340 PRINT 'TO QUIT ROTATE ABOUT AXIS ’Q’.' 350 INPUT U$,V 360 A = -2*PI#V/360 370 S = SIN(A) 380 C = COS(A) 390 MAT B = IDN 400 IF U$ = 'X' GOTO 600 410 IF U$ = 'Y' GOTO 700 420 IF U$ = 'Z' GOTO 800 430 IF U$ = 'Q' GOTO 10000 440 PRINT 'YOU DID SOMETHING WRONG? TRY AGAIN." 450 GOTO 300 598 REM 599 REM X-ROTATION ROUTINE 600 B(2,2) = C 605 8(3,3) = C 610 B(2,3)=-S 615 B(3,2)=S 690 GOTO 1000 698 REM 699 REM Y-ROTATION ROUTINE 700 B(l,l) = C 705 B(3,3) = C 710 B(l,3) = S 715 B(3,l) = -S 790 GOTO 1000 798 REM 799 REM Z-ROTATION ROUTINE 800 B(l,l) = C 805 B(2,2) = C 810 B(l,2)=-S 815 B(2,1)=S 890 GOTO 1000 998 REM 999 REM MATRIX MANIPULATIONS 1000 MAT C = A ♦ B 1002 FOR I = 1 TO 3 1003 FOR J= 1 TO 3 1004 IF ABS(C(I,J)) C IE-15 THEN C(I,J) = 0 1006 NEXT J 1007 NEXT I 1010 MAT A = C 1015 MAT B = TRN (C) -1030 MAT D = Z * B 1998 REM 1999 REM OUTPUT ROUTINE 2000 PRINT X Y Z' 2010 PRINT D(1,1),D(1,2),D(1,3) 2400 PRINT 2500 GOTO 350 9910 REM THIS PROGRAM WAS WRITTEN AND USED BY RAY SPERBER 9920 REM OF THE BOEING AEROSPACE COMPANY IN JANUARY 1930 TO 9930 REM CALCULATE DIRECTION COSINES FOR SOLAR POWER SATELLITE 9940 REM REFLECTANCES. THE LANGUAGE IT IS IN IS BASIC AS IMPLEMENTED . 9950 REM ON A DEC PDP 11/70 WITH AN RSTS-11 OPERATING SYSTEM. 10000 END E>
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