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This function computes a Givens rotation (c,s) which zeroes the vector (a,b),
[ c s ] [ a ] = [ r ]
[ -s c ] [ b ] [ 0 ]
The variables a and b are overwritten by the routine.
This function computes a Givens rotation (c,s) which zeroes the vector (a,b),
[ c s ] [ a ] = [ r ]
[ -s c ] [ b ] [ 0 ]
The variables a and b are overwritten by the routine.