object Rotation extends Serializable
The Rotation object provides methods for rotating in a plane.
[ cs sn ] . [ f ] = [ r ] where cs2 + sn2 = 1 [ -sn cs ] [ g ] [ 0 ]
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def
formMatrix(q: Rotation): MatrixD
Given the cosine and sine for a rotation, form the rotation matrix.
Given the cosine and sine for a rotation, form the rotation matrix.
- q
the results of a rotation
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def
rot(n: Int, x: VectorD, y: VectorD, cs: Double, sn: Double): Unit
Rotate vectors 'x' and 'y' using cosine 'cs' and sine 'sn'.
Rotate vectors 'x' and 'y' using cosine 'cs' and sine 'sn'.
- n
the number of elements involved in rotation
- x
the first vector
- y
the second vector
- cs
the cosine for the rotation
- sn
the sine for the rotation
- See also
BLAS SUBROUTINE DROT (N, DX, INCX, DY, INCY, C, S) restriction: 'INCX = INCY = 1'
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def
rotCol(n: Int, a: MatriD, jx: Int, jy: Int, cs: Double, sn: Double): Unit
Rotate column vectors with indices 'jx' and 'jy' using cosine 'cs' and sine 'sn'.
Rotate column vectors with indices 'jx' and 'jy' using cosine 'cs' and sine 'sn'.
- n
the number of elements involved in rotation
- a
the matrix containing the columns to be rotated
- jx
the index for the first column vector
- jy
the index for the second column vector
- cs
the cosine for the rotation
- sn
the sine for the rotation
- See also
BLAS SUBROUTINE DROT (N, DX, INCX, DY, INCY, C, S) restriction: 'INCX = INCY = 1'
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def
rotate(x: VectorD): Rotation
Rotate the vector 'x to vector 'y' to make 'y(1) = 0'.
Rotate the vector 'x to vector 'y' to make 'y(1) = 0'.
- x
the vector to be rotated
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def
rotate(f: Double, g: Double): Rotation
Rotate vector '[f, g]' to vector '[r, 0]' to make the second element 0.
Rotate vector '[f, g]' to vector '[r, 0]' to make the second element 0.
- f
the first element of the vector to be rotated
- g
the second element of the vector to be rotated
- See also
LAPACK SUBROUTINE DLARTG (F, G, CS, SN, R)
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def
rotateV(left: Boolean, forward: Boolean, m: Int, n: Int, cs: Array[Double], ics: Int, sn: Array[Double], isn: Int, a: MatrixD): Unit
Rotate the vectors in matrix 'a'.
Rotate the vectors in matrix 'a'.
- left
whether to apply rotation from the left (true) or right (false)
- forward
whether to loop in the forward (true) or backward (false) direction
- m
the relevant number of rows
- n
the relevant number of columns
- cs
the array of cos's
- ics
the index offset for the array of cos's
- sn
the array of sin's
- isn
the index offset for the array of sin's
- a
the matrix to rotate
- See also
LAPACK SUBROUTINE DLASR (SIDE, PIVOT, DIRECT, M, N, C, S, A, LDA) restriction: 'PIVOT = v'
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