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//
// GENERATED FILE
//
use super::*;
use crate::SpiceContext;
use f2rust_std::*;
/// Matrix transpose times vector, 3x3
///
/// Multiply the transpose of a 3x3 matrix on the left with a vector
/// on the right.
///
/// # Brief I/O
///
/// ```text
/// VARIABLE I/O DESCRIPTION
/// -------- --- --------------------------------------------------
/// M I 3X3 double precision matrix.
/// VIN I 3-dimensional double precision vector.
/// VOUT O 3-dimensional double precision vector. VOUT is
/// the product M**T * VIN.
/// ```
///
/// # Detailed Input
///
/// ```text
/// M is an arbitrary 3x3 double precision matrix.
/// Typically, M will be a rotation matrix since
/// then its transpose is its inverse (but this is NOT
/// a requirement).
///
/// VIN is an arbitrary 3-dimensional double precision
/// vector.
/// ```
///
/// # Detailed Output
///
/// ```text
/// VOUT is a 3-dimensional double precision vector. VOUT is
/// the product VOUT = (M**T) x (VIN).
/// ```
///
/// # Exceptions
///
/// ```text
/// Error free.
/// ```
///
/// # Particulars
///
/// ```text
/// The code reflects precisely the following mathematical expression
///
/// For each value of the subscript I from 1 to 3:
///
/// 3
/// .-----
/// \
/// VOUT(I) = ) M(K,I) * VIN(K)
/// /
/// '-----
/// K=1
///
/// Note that the reversal of the K and I subscripts in the left-hand
/// matrix M is what makes VOUT the product of the TRANSPOSE of
/// and not simply of M itself.
/// ```
///
/// # Examples
///
/// ```text
/// The numerical results shown for this example may differ across
/// platforms. The results depend on the SPICE kernels used as
/// input, the compiler and supporting libraries, and the machine
/// specific arithmetic implementation.
///
/// 1) Given a 3x3 matrix and a 3-vector, multiply the transpose of
/// the matrix by the vector.
///
///
/// Example code begins here.
///
///
/// PROGRAM MTXV_EX1
/// IMPLICIT NONE
///
/// C
/// C Local variables.
/// C
/// DOUBLE PRECISION M ( 3, 3 )
/// DOUBLE PRECISION VIN ( 3 )
/// DOUBLE PRECISION VOUT ( 3 )
///
/// INTEGER I
/// INTEGER J
///
/// C
/// C Define M and VIN.
/// C
/// DATA M / 1.0D0, -1.0D0, 0.0D0,
/// . 1.0D0, 1.0D0, 0.0D0,
/// . 0.0D0, 0.0D0, 1.0D0 /
///
/// DATA VIN / 5.0D0, 10.0D0, 15.0D0 /
///
/// C
/// C Multiply the transpose of M by VIN.
/// C
/// CALL MTXV ( M, VIN, VOUT )
///
/// WRITE(*,'(A)') 'Transpose of M times VIN:'
/// WRITE(*,'(3F10.3)') VOUT
///
/// END
///
///
/// When this program was executed on a Mac/Intel/gfortran/64-bit
/// platform, the output was:
///
///
/// Transpose of M times VIN:
/// -5.000 15.000 15.000
///
///
/// Note that typically the matrix M will be a rotation matrix.
/// Because the transpose of an orthogonal matrix is equivalent to
/// its inverse, applying the rotation to the vector is
/// accomplished by multiplying the vector by the transpose of the
/// matrix.
///
/// Let
///
/// -1
/// M * VIN = VOUT
///
/// If M is an orthogonal matrix, then (M**T) * VIN = VOUT.
/// ```
///
/// # Restrictions
///
/// ```text
/// 1) The user is responsible for checking the magnitudes of the
/// elements of M and VIN so that a floating point overflow does
/// not occur.
/// ```
///
/// # Author and Institution
///
/// ```text
/// N.J. Bachman (JPL)
/// J. Diaz del Rio (ODC Space)
/// W.M. Owen (JPL)
/// W.L. Taber (JPL)
/// ```
///
/// # Version
///
/// ```text
/// - SPICELIB Version 1.1.0, 25-AUG-2021 (JDR)
///
/// Changed input argument name MATRIX to M for consistency with
/// other routines.
///
/// Added IMPLICIT NONE statement.
///
/// Edited the header to comply with NAIF standard.
/// Added complete code example based on the existing example.
///
/// - SPICELIB Version 1.0.2, 23-APR-2010 (NJB)
///
/// Header correction: assertions that the output
/// can overwrite the input have been removed.
///
/// - SPICELIB Version 1.0.1, 10-MAR-1992 (WLT)
///
/// Comment section for permuted index source lines was added
/// following the header.
///
/// - SPICELIB Version 1.0.0, 31-JAN-1990 (WMO)
/// ```
pub fn mtxv(m: &[[f64; 3]; 3], vin: &[f64; 3], vout: &mut [f64; 3]) {
MTXV(m.as_flattened(), vin, vout);
}
//$Procedure MTXV ( Matrix transpose times vector, 3x3 )
pub fn MTXV(M: &[f64], VIN: &[f64], VOUT: &mut [f64]) {
let M = DummyArray2D::new(M, 1..=3, 1..=3);
let VIN = DummyArray::new(VIN, 1..=3);
let mut VOUT = DummyArrayMut::new(VOUT, 1..=3);
let mut PRODV = StackArray::<f64, 3>::new(1..=3);
//
// Local variables
//
//
// Perform the matrix-vector multiplication
//
for I in 1..=3 {
PRODV[I] = (((M[[1, I]] * VIN[1]) + (M[[2, I]] * VIN[2])) + (M[[3, I]] * VIN[3]));
}
//
// Move the result into VOUT
//
VOUT[1] = PRODV[1];
VOUT[2] = PRODV[2];
VOUT[3] = PRODV[3];
}