fixed dependencies

vendor/github.com/nuknal/goNum/VectorRotation.go

@@ -0,0 +1,91 @@
+// VectorRotation
+/*
+------------------------------------------------------
+作者   : Black Ghost
+日期   : 2018-12-20
+版本   : 0.0.0
+------------------------------------------------------
+    向量在三维空间的旋转
+理论：
+
+------------------------------------------------------
+输入   :
+    u       初始向量，3x1
+    angle   旋转角度，3x1，按绕x、y、z顺序，弧度
+    seq     旋转顺序 []int
+输出   :
+    sol     解,向量
+    err     解出标志：false-未解出或达到边界；
+                     true-全部解出
+------------------------------------------------------
+*/
+
+package goNum
+
+import (
+	"math"
+)
+
+// VectorRotation 向量在三维空间的旋转
+func VectorRotation(u, angle Matrix, seq []int) (Matrix, bool) {
+	/*
+		向量在三维空间的旋转
+		输入   :
+		    u       初始向量，3x1
+		    angle   旋转角度，3x1，按绕x、y、z顺序，弧度
+		    seq     旋转顺序 []int
+		输出   :
+		    sol     解,向量
+		    err     解出标志：false-未解出或达到边界；
+		                     true-全部解出
+	*/
+	//向量大小
+	if u.Rows != 3 {
+		panic("Error in goNum.VectorRotation: Vector length is not right")
+	}
+	if angle.Rows != 3 {
+		panic("Error in goNum.VectorRotation: angles number is not right")
+	}
+	if len(seq) != 3 {
+		panic("Error in goNum.VectorRotation: seq length is not right")
+	}
+	//判断角度大小
+	for i := 0; i < 3; i++ {
+		if angle.Data[i] > math.Pi/2.0 {
+			panic("Error in goNum.VectorRotation: angle value is not right")
+		}
+	}
+	sol := ZeroMatrix(3, 1)
+	var err bool = false
+	//matrix around x
+	Rx := NewMatrix(3, 3, []float64{
+		1.0, 0.0, 0.0,
+		0.0, math.Cos(angle.Data[0]), -1.0 * math.Sin(angle.Data[0]),
+		0.0, math.Sin(angle.Data[0]), math.Cos(angle.Data[0])})
+	//matrix around y
+	Ry := NewMatrix(3, 3, []float64{
+		math.Cos(angle.Data[1]), 0.0, math.Sin(angle.Data[1]),
+		0.0, 1.0, 0.0,
+		-1.0 * math.Sin(angle.Data[1]), 0.0, math.Cos(angle.Data[1])})
+	//matrix around z
+	Rz := NewMatrix(3, 3, []float64{
+		math.Cos(angle.Data[2]), -1.0 * math.Sin(angle.Data[2]), 0.0,
+		math.Sin(angle.Data[2]), math.Cos(angle.Data[2]), 0.0,
+		0.0, 0.0, 1.0})
+	W := IdentityE(3)
+	for i := 0; i < 3; i++ {
+		switch seq[i] {
+		case 1:
+			W = DotPruduct(Rx, W)
+		case 2:
+			W = DotPruduct(Ry, W)
+		case 3:
+			W = DotPruduct(Rz, W)
+		default:
+			panic("Error in goNum.VectorRotation: sequence number is not right")
+		}
+	}
+	sol = DotPruduct(W, u)
+	err = true
+	return sol, err
+}