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//
// GENERATED FILE
//
use super::*;
use f2rust_std::*;
fn D(I: i32, J: i32) -> i32 {
i32::abs(((i32::abs((I - J)) - 1) / (i32::abs((I - J)) + 1)))
}
//$Procedure F_XFNEUL ( State transformations and Euler angles)
pub fn F_XFNEUL(OK: &mut bool, ctx: &mut Context) -> f2rust_std::Result<()> {
let mut AV = StackArray::<f64, 3>::new(1..=3);
let mut AXIS = StackArray3D::<f64, 27>::new(1..=3, 1..=3, 1..=3);
let mut CEULER = StackArray::<f64, 6>::new(1..=6);
let mut DIAG = StackArray3D::<f64, 27>::new(1..=3, 1..=3, 1..=3);
let mut EULER = StackArray::<f64, 6>::new(1..=6);
let mut OMEGA = StackArray3D::<f64, 27>::new(1..=3, 1..=3, 1..=3);
let mut ROT = StackArray2D::<f64, 9>::new(1..=3, 1..=3);
let mut XEULER = StackArray::<f64, 6>::new(1..=6);
let mut XF = StackArray3D::<f64, 108>::new(1..=6, 1..=6, 1..=3);
let mut XFORM = StackArray2D::<f64, 36>::new(1..=6, 1..=6);
let mut XPECT = StackArray2D::<f64, 36>::new(1..=6, 1..=6);
let mut XTEMP = StackArray2D::<f64, 36>::new(1..=6, 1..=6);
let mut A = StackArray::<i32, 3>::new(1..=3);
let mut I: i32 = 0;
let mut J: i32 = 0;
let mut UNIQUE: bool = false;
//
// Test Utility Functions
//
//
// SPICELIB Functions
//
//
// Local Variables
//
//
// Begin every test family with an open call.
//
testutil::TOPEN(b"F_XFNEUL", ctx)?;
// Validate the computation of state transformation from
// Euler angles and derivatives.
//
{
let m1__: i32 = 1;
let m2__: i32 = 3;
let m3__: i32 = 1;
I = m1__;
for _ in 0..((m2__ - m1__ + m3__) / m3__) as i32 {
{
let m1__: i32 = 1;
let m2__: i32 = 3;
let m3__: i32 = 1;
J = m1__;
for _ in 0..((m2__ - m1__ + m3__) / m3__) as i32 {
for K in 1..=3 {
OMEGA[[I, J, K]] = 0.0;
AXIS[[I, J, K]] = 0.0;
DIAG[[I, J, K]] = 0.0;
}
J += m3__;
}
}
I += m3__;
}
}
{
let m1__: i32 = 1;
let m2__: i32 = 3;
let m3__: i32 = 1;
I = m1__;
for _ in 0..((m2__ - m1__ + m3__) / m3__) as i32 {
{
let m1__: i32 = 1;
let m2__: i32 = 3;
let m3__: i32 = 1;
J = m1__;
for _ in 0..((m2__ - m1__ + m3__) / m3__) as i32 {
DIAG[[J, J, I]] = (1.0 - (D(I, J) as f64));
AXIS[[J, J, I]] = (D(I, J) as f64);
J += m3__;
}
}
I += m3__;
}
}
OMEGA[[1, 2, 3]] = 1.0;
OMEGA[[2, 3, 1]] = 1.0;
OMEGA[[3, 1, 2]] = 1.0;
OMEGA[[3, 2, 1]] = -1.0;
OMEGA[[2, 1, 3]] = -1.0;
OMEGA[[1, 3, 2]] = -1.0;
testutil::TCASE(b"Validate the computation of state transformation from Euler angles and derivatives. Every possible combination of axes is tested. ", ctx)?;
EULER[1] = 0.33;
EULER[2] = -0.2;
EULER[3] = 0.5;
EULER[4] = -0.3;
EULER[5] = 0.1;
EULER[6] = 0.7;
{
let m1__: i32 = 1;
let m2__: i32 = 3;
let m3__: i32 = 1;
I = m1__;
for _ in 0..((m2__ - m1__ + m3__) / m3__) as i32 {
{
let m1__: i32 = 1;
let m2__: i32 = 3;
let m3__: i32 = 1;
J = m1__;
for _ in 0..((m2__ - m1__ + m3__) / m3__) as i32 {
for K in 1..=3 {
//
// We construct the state transformation matrix
// from scratch and compare that to the results
// returned by EUL2XF.
//
A[1] = I;
A[2] = J;
A[3] = K;
//
// Set the expected state transformation to the identity
// to begin with.
//
spicelib::CLEARD(36, XPECT.as_slice_mut());
for M in 1..=6 {
XPECT[[M, M]] = 1.0;
}
for M in 1..=3 {
//
// Construct the state transformation for the Mth
// rotation in the sequence. We start out with
// the rotation matrix and angular velocity vector.
//
spicelib::ROTATE(EULER[M], A[M], ROT.as_slice_mut(), ctx);
//
// Set the angular velocity vector: the component
// corresponding to axis M is the Mth rate; the other
// components are zero.
//
spicelib::CLEARD(3, AV.as_slice_mut());
AV[A[M]] = EULER[(M + 3)];
spicelib::RAV2XF(
ROT.as_slice(),
AV.as_slice(),
XF.subarray_mut([1, 1, M]),
);
spicelib::MXMG(
XPECT.as_slice(),
XF.subarray([1, 1, M]),
6,
6,
6,
XTEMP.as_slice_mut(),
);
spicelib::MOVED(XTEMP.as_slice(), 36, XPECT.as_slice_mut());
}
spicelib::EUL2XF(EULER.as_slice(), I, J, K, XFORM.as_slice_mut(), ctx)?;
testutil::TSTMSG(b"#", b"Rotation is a #-#-# ", ctx);
testutil::TSTMSI(I, ctx);
testutil::TSTMSI(J, ctx);
testutil::TSTMSI(K, ctx);
testutil::CHCKXC(false, b" ", OK, ctx)?;
testutil::CHCKAD(
b"XFORM",
XFORM.as_slice(),
b"~",
XPECT.as_slice(),
36,
0.00000000000002,
OK,
ctx,
)?;
}
J += m3__;
}
}
I += m3__;
}
}
testutil::TCASE(b"Validate the computation of euler angles and derivatives from the state transformation matrix. Every combination of rotation axes is exercised. ", ctx)?;
EULER[1] = 0.33;
EULER[2] = 0.2;
EULER[3] = 0.5;
EULER[4] = 0.3;
EULER[5] = 0.1;
EULER[6] = 0.7;
{
let m1__: i32 = 1;
let m2__: i32 = 3;
let m3__: i32 = 1;
I = m1__;
for _ in 0..((m2__ - m1__ + m3__) / m3__) as i32 {
{
let m1__: i32 = 1;
let m2__: i32 = 3;
let m3__: i32 = 1;
J = m1__;
for _ in 0..((m2__ - m1__ + m3__) / m3__) as i32 {
if (I != J) {
for K in 1..=3 {
if (K != J) {
spicelib::EUL2XF(
EULER.as_slice(),
I,
J,
K,
XFORM.as_slice_mut(),
ctx,
)?;
spicelib::XF2EUL(
XFORM.as_slice(),
I,
J,
K,
CEULER.as_slice_mut(),
&mut UNIQUE,
ctx,
)?;
testutil::TSTMSG(b"#", b"Rotation is a #-#-# ", ctx);
testutil::TSTMSI(I, ctx);
testutil::TSTMSI(J, ctx);
testutil::TSTMSI(K, ctx);
testutil::CHCKXC(false, b" ", OK, ctx)?;
testutil::CHCKSL(b"UNIQUE", UNIQUE, true, OK, ctx)?;
testutil::CHCKAD(
b"XFORM",
CEULER.as_slice(),
b"~",
EULER.as_slice(),
6,
0.00000000000002,
OK,
ctx,
)?;
}
}
}
J += m3__;
}
}
I += m3__;
}
}
testutil::TCASE(
b"Exercise the degenerate cases where the second angle is nearly zero. ",
ctx,
)?;
EULER[1] = 0.0;
EULER[2] = 0.0000000001;
EULER[3] = 0.5;
EULER[4] = 0.0;
EULER[5] = 0.1;
EULER[6] = 0.7;
XEULER[1] = 0.0;
XEULER[2] = 0.0;
XEULER[3] = 0.5;
XEULER[4] = 0.0;
XEULER[5] = 0.1;
XEULER[6] = 0.7;
{
let m1__: i32 = 1;
let m2__: i32 = 3;
let m3__: i32 = 1;
I = m1__;
for _ in 0..((m2__ - m1__ + m3__) / m3__) as i32 {
{
let m1__: i32 = 1;
let m2__: i32 = 3;
let m3__: i32 = 1;
J = m1__;
for _ in 0..((m2__ - m1__ + m3__) / m3__) as i32 {
if (I != J) {
for K in 1..=3 {
if (K == I) {
spicelib::EUL2XF(
EULER.as_slice(),
I,
J,
K,
XFORM.as_slice_mut(),
ctx,
)?;
spicelib::XF2EUL(
XFORM.as_slice(),
I,
J,
K,
CEULER.as_slice_mut(),
&mut UNIQUE,
ctx,
)?;
testutil::TSTMSG(b"#", b"Rotation is a #-#-# ", ctx);
testutil::TSTMSI(I, ctx);
testutil::TSTMSI(J, ctx);
testutil::TSTMSI(K, ctx);
testutil::CHCKXC(false, b" ", OK, ctx)?;
testutil::CHCKSL(b"UNIQUE", UNIQUE, false, OK, ctx)?;
testutil::CHCKAD(
b"XFORM",
CEULER.as_slice(),
b"~",
XEULER.as_slice(),
6,
0.00000000000002,
OK,
ctx,
)?;
}
}
}
J += m3__;
}
}
I += m3__;
}
}
testutil::T_SUCCESS(OK, ctx);
Ok(())
}