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//
// GENERATED FILE
//
use super::*;
use crate::SpiceContext;
use f2rust_std::*;
struct SaveVars {
INDEXS: StackArray<i32, 5>,
}
impl SaveInit for SaveVars {
fn new() -> Self {
let mut INDEXS = StackArray::<i32, 5>::new(1..=5);
{
use f2rust_std::data::Val;
let mut clist = [Val::I(3), Val::I(1), Val::I(2), Val::I(3), Val::I(1)].into_iter();
INDEXS
.iter_mut()
.for_each(|n| *n = clist.next().unwrap().into_i32());
debug_assert!(clist.next().is_none(), "DATA not fully initialised");
}
Self { INDEXS }
}
}
/// Rotate a matrix
///
/// Apply a rotation of ANGLE radians about axis IAXIS to a matrix.
/// This rotation is thought of as rotating the coordinate system.
///
/// # Brief I/O
///
/// ```text
/// VARIABLE I/O DESCRIPTION
/// -------- --- --------------------------------------------------
/// M1 I Matrix to be rotated.
/// ANGLE I Angle of rotation (radians).
/// IAXIS I Axis of rotation (X=1, Y=2, Z=3).
/// MOUT O Resulting rotated matrix [ANGLE] * M1
/// IAXIS
/// ```
///
/// # Detailed Input
///
/// ```text
/// M1 is a 3x3 matrix to which a rotation is to be applied. In
/// matrix algebra, the components of the matrix are relevant
/// in one particular coordinate system. Applying ROTMAT
/// changes the components of M1 so that they are relevant to
/// a rotated coordinate system.
///
/// ANGLE is the angle in radians through which the original
/// coordinate system is to be rotated.
///
/// IAXIS is the index for the axis of the original coordinate
/// system about which the rotation by ANGLE is to be
/// performed. IAXIS = 1,2 or 3 designates the X-, Y- or
/// Z-axis, respectively.
/// ```
///
/// # Detailed Output
///
/// ```text
/// MOUT is the matrix resulting from the application of the
/// specified rotation to the input matrix M1. If
///
/// [ANGLE]
/// IAXIS
///
/// denotes the rotation matrix by ANGLE radians about IAXIS,
/// (refer to the routine ROTATE) then MOUT is given by the
/// following matrix equation:
///
/// MOUT = [ANGLE] * M1
/// IAXIS
/// ```
///
/// # Exceptions
///
/// ```text
/// Error free.
///
/// 1) If the axis index is not in the range 1 to 3, it will be
/// treated the same as that integer 1, 2, or 3 that is congruent
/// to it mod 3.
/// ```
///
/// # Examples
///
/// ```text
/// Suppose that to rotate a set of inertial axes to body fixed
/// axes, one must first roll the coordinate axes about the x-axis by
/// angle R to get x', y', z'. From this one must pitch about the y'
/// axis by angle P to get x'', y'', z''. And finally yaw the x'',
/// y'', z'' about the z'' axis by angle Y to obtain the
/// transformation to bodyfixed coordinates. If ID is the identity
/// matrix, then the following code fragment generates the
/// transformation from inertial to body fixed.
///
/// CALL ROTMAT ( ID, R, 1, M1 )
/// CALL ROTMAT ( M1, P, 2, M2 )
/// CALL ROTMAT ( M2, Y, 3, TIBF )
/// ```
///
/// # 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, 27-MAY-2021 (JDR)
///
/// Added IMPLICIT NONE statement.
///
/// Edited the header to comply with NAIF standard. Reformatted
/// arguments' description.
///
/// - 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)
/// ```
///
/// # Revisions
///
/// ```text
/// - Beta Version 1.1.0, 3-JAN-1989 (WLT)
///
/// Upgrade the routine to work with negative axis indexes. Also take
/// care of the funky way the indices (other than the input) were
/// obtained via the MOD function. It works but isn't as clear
/// (or fast) as just reading the axes from data.
/// ```
pub fn rotmat(
ctx: &mut SpiceContext,
m1: &[[f64; 3]; 3],
angle: f64,
iaxis: i32,
mout: &mut [[f64; 3]; 3],
) {
ROTMAT(
m1.as_flattened(),
angle,
iaxis,
mout.as_flattened_mut(),
ctx.raw_context(),
);
}
//$Procedure ROTMAT ( Rotate a matrix )
pub fn ROTMAT(M1: &[f64], ANGLE: f64, IAXIS: i32, MOUT: &mut [f64], ctx: &mut Context) {
let save = ctx.get_vars::<SaveVars>();
let save = &mut *save.borrow_mut();
let M1 = DummyArray2D::new(M1, 1..=3, 1..=3);
let mut MOUT = DummyArrayMut2D::new(MOUT, 1..=3, 1..=3);
let mut S: f64 = 0.0;
let mut C: f64 = 0.0;
let mut TEMP: i32 = 0;
let mut I1: i32 = 0;
let mut I2: i32 = 0;
let mut I3: i32 = 0;
let mut PRODM = StackArray2D::<f64, 9>::new(1..=3, 1..=3);
//
// Get the sine and cosine of ANGLE
//
S = f64::sin(ANGLE);
C = f64::cos(ANGLE);
//
// Get indices for axes. The first index is for the axis of rotation.
// The next two axes follow in right hand order (XYZ). First get the
// non-negative value of IAXIS mod 3 .
//
TEMP = intrinsics::MOD((intrinsics::MOD(IAXIS, 3) + 3), 3);
I1 = save.INDEXS[(TEMP + 1)];
I2 = save.INDEXS[(TEMP + 2)];
I3 = save.INDEXS[(TEMP + 3)];
//
// Calculate the output matrix column by column
//
for I in 1..=3 {
PRODM[[I1, I]] = M1[[I1, I]];
PRODM[[I2, I]] = ((C * M1[[I2, I]]) + (S * M1[[I3, I]]));
PRODM[[I3, I]] = (-(S * M1[[I2, I]]) + (C * M1[[I3, I]]));
}
//
// Move the buffered matrix into MOUT.
//
MOVED(PRODM.as_slice(), 9, MOUT.as_slice_mut());
//
}