Conversion of rotation representations

This server was established by Winfried Meining at the Center for Structural Biochemistry, Karolinska Institutet, Stockholm, Sweden, Oct. 2001

See the documentation for definitions

Matrix (M11 M12 M13 M21 M22 M23 M31 M32 M33): 
(M11 M12 M13)   (x)   (M11*x+M12*y+M13*z)

(M21 M22 M23) * (y) = (M21*x+M22*y+M23*z)

(M31 M32 M33)   (z)   (M31*x+M32*y+M33*z)
transpose matrix
The transposed matrix is equivalent to the rotation part in an O LSQ datablock
Translation (optional)
Vector (x y z kappa)
Polar angles (Rossmann/CNS convention) (phi psi kappa)
Polar angles (CCP4 convention) (phi omega chi)
Eulerian angles (Crowther convention) (alpha beta gamma)
Eulerian angles (Rossmann convention) (theta1 theta2 theta3)
Eulerian angles (CNS convention) (theta1' theta2' theta3')
Eulerian angles (Lattman convention) (theta+ theta theta-)