public static Matrix4 TransformationMatrix(double dx, double dy, double dz, double ez, double ey, double ex, bool useDCMTranspose)
{
Matrix4 T = new Matrix4();
Matrix3 dcm = Matrix3.DCM(ez, ey, ex);
//Assign the full transformation matrix
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
//Test if using the dcm transpose
if (useDCMTranspose)
{
T[i, j] = dcm[j, i];
}
else
{
T[i, j] = dcm[i, j];
}
}
}
//Assign the translation
T[0, 3] = dx;
T[1, 3] = dy;
T[2, 3] = dz;
T[3, 3] = 1.0;
return(T);
}
