mathjs/src/function/matrix/rotate.js

import { factory } from '../../utils/factory.js'
import { arraySize } from '../../utils/array.js'

const name = 'rotate'
const dependencies = [
  'typed',
  'multiply',
  'rotationMatrix'
]

export const createRotate = /* #__PURE__ */ factory(name, dependencies, (
  {
    typed, multiply, rotationMatrix
  }) => {
  /**
     * Rotate a vector of size 1x2 counter-clockwise by a given angle
     * Rotate a vector of size 1x3 counter-clockwise by a given angle around the given axis
     *
     * Syntax:
     *
     *    math.rotate(w, theta)
     *    math.rotate(w, theta, v)
     *
     * Examples:
     *
     *    math.rotate([11, 12], math.pi / 2)                           // returns matrix([-12, 11])
     *    math.rotate(matrix([11, 12]), math.pi / 2)                   // returns matrix([-12, 11])
     *
     *    math.rotate([1, 0, 0], unit('90deg'), [0, 0, 1])             // returns matrix([0, 1, 0])
     *    math.rotate(matrix([1, 0, 0]), unit('90deg'), [0, 0, 1])     // returns matrix([0, 1, 0])
     *
     *    math.rotate([1, 0], math.complex(1 + i))                     // returns matrix([cos(1 + i) - sin(1 + i), sin(1 + i) + cos(1 + i)])
     *
     * See also:
     *
     *    matrix, rotationMatrix
     *
     * @param {Array | Matrix} w                             Vector to rotate
     * @param {number | BigNumber | Complex | Unit} theta    Rotation angle
     * @param {Array | Matrix} [v]                           Rotation axis
     * @return {Array | Matrix}                              Multiplication of the rotation matrix and w
     */
  return typed(name, {
    'Array , number | BigNumber | Complex | Unit': function (w, theta) {
      _validateSize(w, 2)
      const matrixRes = multiply(rotationMatrix(theta), w)
      return matrixRes.toArray()
    },

    'Matrix , number | BigNumber | Complex | Unit': function (w, theta) {
      _validateSize(w, 2)
      return multiply(rotationMatrix(theta), w)
    },

    'Array, number | BigNumber | Complex | Unit, Array | Matrix': function (w, theta, v) {
      _validateSize(w, 3)
      const matrixRes = multiply(rotationMatrix(theta, v), w)
      return matrixRes
    },

    'Matrix, number | BigNumber | Complex | Unit, Array | Matrix': function (w, theta, v) {
      _validateSize(w, 3)
      return multiply(rotationMatrix(theta, v), w)
    }
  })

  function _validateSize (v, expectedSize) {
    const actualSize = Array.isArray(v) ? arraySize(v) : v.size()
    if (actualSize.length > 2) {
      throw new RangeError(`Vector must be of dimensions 1x${expectedSize}`)
    }
    if (actualSize.length === 2 && actualSize[1] !== 1) {
      throw new RangeError(`Vector must be of dimensions 1x${expectedSize}`)
    }
    if (actualSize[0] !== expectedSize) {
      throw new RangeError(`Vector must be of dimensions 1x${expectedSize}`)
    }
  }
})