# R/rotation.R In kkholst/lava: Latent Variable Models

#### Documented in rot2Drot3D

```##' Performs a rotation in the plane
##'
##' @title Performs a rotation in the plane
##' @aliases rotate2 rot2D rot3D
##' @param x Matrix to be rotated (2 times n)
##' @param theta Rotation in radians
##' @return Returns a matrix of the same dimension as \code{x}
##' @author Klaus K. Holst
##' @export
##' @examples
##' rotate2(cbind(c(1,2),c(2,1)))
##' @keywords hplot
`rotate2` <-
function(x,theta=pi) {
R <- matrix(c(cos(theta), -sin(theta), sin(theta), cos(theta)), byrow=TRUE, ncol=2)
x%*%R
}

## clockwise rotation 2d:
##' @export
rot2D <- function(theta) {
matrix(c(cos(theta),sin(theta),-sin(theta),cos(theta)),2)
}

##' @export
rot3D <- function(x=0,y=0,z=0) {
Rx <- function() {
R2 <- rot2D(x)
R <- diag(3)
R[2:3,2:3] <- R2
return(R)
}
Ry <- function() {
R2 <- rot2D(y)
R <- diag(3)
R[c(1,3),c(1,3)] <- R2
return(R)
}
Rz <- function() {
R2 <- rot2D(z)
R <- diag(3)
R[1:2,1:2] <- R2
return(R)
}
res <- diag(3)
if (x!=0) res <- res%*%Rx()
if (y!=0) res <- res%*%Ry()
if (z!=0) res <- res%*%Rz()
return(res)
}
```
kkholst/lava documentation built on Sept. 6, 2021, 11:36 p.m.