public static function Fw2m($gamb, $phib, $psi, $eps, array &$r) {
    /* Construct the matrix. */
    IAU::Ir($r);
    IAU::Rz($gamb, $r);
    IAU::Rx($phib, $r);
    IAU::Rz(-$psi, $r);
    IAU::Rx(-$eps, $r);

    return;
  }
public static function Fw2m($gamb, $phib, $psi, $eps, array &$r) {
    /* Construct the matrix. */
    IAU::Ir($r);
    IAU::Rz($gamb, $r);
    IAU::Rx($phib, $r);
    IAU::Rz(-$psi, $r);
    IAU::Rx(-$eps, $r);

    return;
  }
public static function Fw2m ( $ gamb , $ phib , $ psi , $ eps , array & $ r ) { /* Construct the matrix. */ IAU :: Ir ( $ r ) ; IAU :: Rz ( $ gamb , $ r ) ; IAU :: Rx ( $ phib , $ r ) ; IAU :: Rz ( - $ psi , $ r ) ; IAU :: Rx ( - $ eps , $ r ) ; return ; }
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i a u F w 2 m
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Form rotation matrix given the Fukushima-Williams angles.

This function is part of the International Astronomical Union's
SOFA (Standards Of Fundamental Astronomy) software collection.

Status:  support function.

Given:
gamb     double         F-W angle gamma_bar (radians)
phib     double         F-W angle phi_bar (radians)
psi      double         F-W angle psi (radians)
eps      double         F-W angle epsilon (radians)

Returned:
r        double[3][3]   rotation matrix

Notes:

1) Naming the following points:

e = J2000.0 ecliptic pole,
p = GCRS pole,
E = ecliptic pole of date,
and   P = CIP,

the four Fukushima-Williams angles are as follows:

gamb = gamma = epE
phib = phi = pE
psi = psi = pEP
eps = epsilon = EP

2) The matrix representing the combined effects of frame bias,
precession and nutation is:

NxPxB = R_1(-eps).R_3(-psi).R_1(phib).R_3(gamb)

3) Three different matrices can be constructed, depending on the
supplied angles:

o  To obtain the nutation x precession x frame bias matrix,
generate the four precession angles, generate the nutation
components and add them to the psi_bar and epsilon_A angles,
and call the present function.

o  To obtain the precession x frame bias matrix, generate the
four precession angles and call the present function.

o  To obtain the frame bias matrix, generate the four precession
angles for date J2000.0 and call the present function.

The nutation-only and precession-only matrices can if necessary
be obtained by combining these three appropriately.

Called:
iauIr        initialize r-matrix to identity
iauRz        rotate around Z-axis
iauRx        rotate around X-axis

Reference:

Hilton, J. et al., 2006, Celest.Mech.Dyn.Astron. 94, 351

This revision:  2013 June 18

SOFA release 2015-02-09

Copyright (C) 2015 IAU SOFA Board.  See notes at end.
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