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## Copyright (C) 2004-2011 David Legland <david.legland@grignon.inra.fr>
## Copyright (C) 2004-2011 INRA - CEPIA Nantes - MIAJ (Jouy-en-Josas)
## Copyright (C) 2012 Adapted to Octave by Juan Pablo Carbajal <carbajal@ifi.uzh.ch>
## All rights reserved.
##
## Redistribution and use in source and binary forms, with or without
## modification, are permitted provided that the following conditions are met:
##
## 1 Redistributions of source code must retain the above copyright notice,
## this list of conditions and the following disclaimer.
## 2 Redistributions in binary form must reproduce the above copyright
## notice, this list of conditions and the following disclaimer in the
## documentation and/or other materials provided with the distribution.
##
## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ''AS IS''
## AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
## IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
## ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR
## ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
## DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
## SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
## CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
## OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
## OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
## -*- texinfo -*-
## @deftypefn {Function File} {@var{vr} = } rotateVector (@var{v}, @var{theta})
## Rotate a vector by a given angle
##
## Rotate the vector @var{v} by an angle @var{theta}, given in radians.
##
## Example
##
## @example
## rotateVector([1 0], pi/2)
## ans =
## 0 1
## @end example
##
## @seealso{vectors2d, transformVector, createRotation}
## @end deftypefn
function vr = rotateVector(v, angle)
# precomputes angles
cot = cos(angle);
sit = sin(angle);
# compute rotated coordinates
vr = [cot * v(:,1) - sit * v(:,2) , sit * v(:,1) + cot * v(:,2)];
endfunction
%!assert ([0 1],rotateVector([1 0],pi/2), 1e-6)
%!assert (sqrt([0.5 0.5]),rotateVector([1 0],pi/4), 1e-6)
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