@interstellar-tools/equations 0.18.0 → 0.20.0

package/dist/categories/helpers/__tests__/mat-mul3.spec.js

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+import assert from 'node:assert/strict';
+import test, { describe } from 'node:test';
+import { matRelClose } from 'packages/equations/src/__tests__/helpers';
+import { matMul3 } from '../mat-mul3';
+const I3 = [
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, 1]
+];
+describe('matMul3', () => {
+    test('identity is neutral: I*A = A and A*I = A', () => {
+        const A = [
+            [2, 3, 5],
+            [7, 11, 13],
+            [17, 19, 23]
+        ];
+        matRelClose(matMul3(I3, A), A);
+        matRelClose(matMul3(A, I3), A);
+    });
+    test('matches a known product (example matrices)', () => {
+        const A = [
+            [1, 2, 3],
+            [0, 1, 4],
+            [5, 6, 0]
+        ];
+        const B = [
+            [-2, 1, 0],
+            [3, 0, 0],
+            [4, 5, 1]
+        ];
+        const C = matMul3(A, B);
+        // Computed by hand / verified:
+        const expected = [
+            [16, 16, 3],
+            [19, 20, 4],
+            [8, 5, 0]
+        ];
+        assert.deepEqual(C, expected);
+    });
+    test('is associative: (A*B)*C = A*(B*C)', () => {
+        const A = [
+            [1.5, -2, 0.25],
+            [0, 3, 4],
+            [-1, 0.5, 2]
+        ];
+        const B = [
+            [2, 0, 1],
+            [-1, 3, 0],
+            [4, -2, 0.5]
+        ];
+        const C = [
+            [0.1, 0.2, 0.3],
+            [0.4, 0.5, 0.6],
+            [0.7, 0.8, 0.9]
+        ];
+        const left = matMul3(matMul3(A, B), C);
+        const right = matMul3(A, matMul3(B, C));
+        matRelClose(left, right, 1e-12);
+    });
+    test('distributes over addition: A*(B+C) = A*B + A*C', () => {
+        const A = [
+            [1, 2, 3],
+            [4, 5, 6],
+            [7, 8, 9]
+        ];
+        const B = [
+            [9, 8, 7],
+            [6, 5, 4],
+            [3, 2, 1]
+        ];
+        const C = [
+            [1, 0, 1],
+            [0, 1, 0],
+            [2, 0, 2]
+        ];
+        const add = (X, Y) => [
+            [X[0][0] + Y[0][0], X[0][1] + Y[0][1], X[0][2] + Y[0][2]],
+            [X[1][0] + Y[1][0], X[1][1] + Y[1][1], X[1][2] + Y[1][2]],
+            [X[2][0] + Y[2][0], X[2][1] + Y[2][1], X[2][2] + Y[2][2]]
+        ];
+        const left = matMul3(A, add(B, C));
+        const right = add(matMul3(A, B), matMul3(A, C));
+        matRelClose(left, right, 1e-12);
+    });
+});
+//# sourceMappingURL=mat-mul3.spec.js.map

package/dist/categories/helpers/__tests__/mat-mul3.spec.js.map

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package/dist/categories/helpers/__tests__/misc.spec.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=misc.spec.d.ts.map

package/dist/categories/helpers/__tests__/misc.spec.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"misc.spec.d.ts","sourceRoot":"","sources":["../../../../src/categories/helpers/__tests__/misc.spec.ts"],"names":[],"mappings":""}

package/dist/categories/helpers/__tests__/misc.spec.js

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+import assert from 'node:assert/strict';
+import test, { describe } from 'node:test';
+import { absClose, relClose } from 'packages/equations/src/__tests__/helpers';
+import { dot, norm, norm2pi, residual, scale, sub } from '../misc';
+import { TWO_PI } from '@interstellar-tools/constants';
+describe('misc', () => {
+    /* ----------------------------- vector helpers ----------------------------- */
+    test('norm computes Euclidean length (matches 3-4-12 triangle)', () => {
+        const v = [3, 4, 12];
+        assert.equal(norm(v), 13);
+    });
+    test('norm is homogeneous: norm(k*v) = |k| * norm(v)', () => {
+        const v = [1.2, -3.4, 5.6];
+        const k = -7.5;
+        const kv = scale(v, k);
+        relClose(norm(kv), Math.abs(k) * norm(v));
+    });
+    test('scale multiplies each component by s', () => {
+        const v = [1, -2, 3];
+        assert.deepEqual(scale(v, 10), [10, -20, 30]);
+    });
+    test('sub computes a - b component-wise', () => {
+        const a = [3, 2, 1];
+        const b = [1, 1, 1];
+        assert.deepEqual(sub(a, b), [2, 1, 0]);
+    });
+    test('dot matches known value', () => {
+        assert.equal(dot([1, 2, 3], [4, 5, 6]), 32);
+    });
+    test('dot is symmetric: a·b = b·a', () => {
+        const a = [1.2, -3.4, 5.6];
+        const b = [-7.8, 9.1, -2.3];
+        relClose(dot(a, b), dot(b, a));
+    });
+    test('dot relates to norm: dot(v,v) = norm(v)^2', () => {
+        const v = [1.2, -3.4, 5.6];
+        relClose(dot(v, v), Math.pow(norm(v), 2));
+    });
+    /* ----------------------------- angle helpers ----------------------------- */
+    test('norm2pi returns values in [0, 2π)', () => {
+        const samples = [
+            -10 * TWO_PI - 0.1,
+            -TWO_PI,
+            -Math.PI,
+            -0.1,
+            0,
+            0.1,
+            Math.PI,
+            TWO_PI,
+            10 * TWO_PI + 0.1
+        ];
+        for (const x of samples) {
+            const y = norm2pi(x);
+            assert.ok(y >= 0, `expected >= 0, got ${y} for x=${x}`);
+            assert.ok(y < TWO_PI, `expected < 2π, got ${y} for x=${x}`);
+        }
+    });
+    test('norm2pi is periodic: norm2pi(x + 2πk) = norm2pi(x)', () => {
+        const x = 1.2345;
+        const k = 7;
+        const y1 = norm2pi(x);
+        const y2 = norm2pi(x + k * TWO_PI);
+        relClose(y2, y1);
+    });
+    test('norm2pi maps -π/2 to 3π/2', () => {
+        relClose(norm2pi(-Math.PI / 2), (3 * Math.PI) / 2);
+    });
+    /* ----------------------------- kepler residual ---------------------------- */
+    test('residual matches definition: E - e*sin(E) - norm2pi(M)', () => {
+        const E = 1.0;
+        const e = 0.1;
+        const M = 0.9;
+        const r = residual(E, e, M);
+        const expected = E - e * Math.sin(E) - norm2pi(M);
+        relClose(r, expected);
+    });
+    test('residual(E,e,M) is invariant under adding 2π to M (because M is wrapped)', () => {
+        const E = 2.0;
+        const e = 0.3;
+        const M = 1.5;
+        const r1 = residual(E, e, M);
+        const r2 = residual(E, e, M + TWO_PI);
+        absClose(r1, r2, 1e-12);
+    });
+    test('when e = 0, residual reduces to E - norm2pi(M)', () => {
+        const E = 1.234;
+        const e = 0;
+        const M = -0.5;
+        const r = residual(E, e, M);
+        relClose(r, E - norm2pi(M));
+    });
+    test("for an exact solution of Kepler's equation, residual is ~0", () => {
+        // Choose E and e, then define M = E - e*sin(E) (within [0,2π)).
+        const E = 1.7;
+        const e = 0.2;
+        const M = norm2pi(E - e * Math.sin(E));
+        const r = residual(E, e, M);
+        absClose(r, 0, 1e-12);
+    });
+});
+//# sourceMappingURL=misc.spec.js.map

package/dist/categories/helpers/__tests__/misc.spec.js.map

@@ -0,0 +1 @@
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package/dist/categories/helpers/__tests__/radians.spec.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=radians.spec.d.ts.map

package/dist/categories/helpers/__tests__/radians.spec.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"radians.spec.d.ts","sourceRoot":"","sources":["../../../../src/categories/helpers/__tests__/radians.spec.ts"],"names":[],"mappings":""}

package/dist/categories/helpers/__tests__/radians.spec.js

@@ -0,0 +1,37 @@
+import assert from 'node:assert/strict';
+import test, { describe } from 'node:test';
+import { absClose, relClose } from 'packages/equations/src/__tests__/helpers';
+import { rad, toRad } from '../radians';
+describe('radians', () => {
+    /* ---------------------------------- toRad --------------------------------- */
+    test('toRad converts 180° to π', () => {
+        const x = toRad(180);
+        absClose(x, Math.PI, 1e-12);
+    });
+    test('toRad converts 90° to π/2', () => {
+        const x = toRad(90);
+        absClose(x, Math.PI / 2, 1e-12);
+    });
+    test('toRad converts -90° to -π/2', () => {
+        const x = toRad(-90);
+        absClose(x, -Math.PI / 2, 1e-12);
+    });
+    test('toRad is linear: toRad(a + b) = toRad(a) + toRad(b)', () => {
+        const a = 12.34;
+        const b = -56.78;
+        const left = toRad(a + b);
+        const right = (toRad(a) + toRad(b));
+        relClose(left, right);
+    });
+    /* ----------------------------------- rad ---------------------------------- */
+    test('rad is an identity at runtime (returns the same numeric value)', () => {
+        const x = 1.2345;
+        const y = rad(x);
+        assert.equal(y, x);
+    });
+    test('rad works with Math constants (π branded as Radians)', () => {
+        const x = rad(Math.PI);
+        absClose(x, Math.PI, 0);
+    });
+});
+//# sourceMappingURL=radians.spec.js.map

package/dist/categories/helpers/__tests__/radians.spec.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"radians.spec.js","sourceRoot":"","sources":["../../../../src/categories/helpers/__tests__/radians.spec.ts"],"names":[],"mappings":"AAAA,OAAO,MAAM,MAAM,oBAAoB,CAAC;AACxC,OAAO,IAAI,EAAE,EAAE,QAAQ,EAAE,MAAM,WAAW,CAAC;AAC3C,OAAO,EAAE,QAAQ,EAAE,QAAQ,EAAE,MAAM,0CAA0C,CAAC;AAC9E,OAAO,EAAE,GAAG,EAAE,KAAK,EAAE,MAAM,YAAY,CAAC;AAGxC,QAAQ,CAAC,SAAS,EAAE,GAAG,EAAE;IACvB,gFAAgF;IAEhF,IAAI,CAAC,0BAA0B,EAAE,GAAG,EAAE;QACpC,MAAM,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC;QACrB,QAAQ,CAAC,CAAC,EAAE,IAAI,CAAC,EAAE,EAAE,KAAK,CAAC,CAAC;IAC9B,CAAC,CAAC,CAAC;IAEH,IAAI,CAAC,2BAA2B,EAAE,GAAG,EAAE;QACrC,MAAM,CAAC,GAAG,KAAK,CAAC,EAAE,CAAC,CAAC;QACpB,QAAQ,CAAC,CAAC,EAAE,IAAI,CAAC,EAAE,GAAG,CAAC,EAAE,KAAK,CAAC,CAAC;IAClC,CAAC,CAAC,CAAC;IAEH,IAAI,CAAC,6BAA6B,EAAE,GAAG,EAAE;QACvC,MAAM,CAAC,GAAG,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC;QACrB,QAAQ,CAAC,CAAC,EAAE,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,EAAE,KAAK,CAAC,CAAC;IACnC,CAAC,CAAC,CAAC;IAEH,IAAI,CAAC,qDAAqD,EAAE,GAAG,EAAE;QAC/D,MAAM,CAAC,GAAG,KAAK,CAAC;QAChB,MAAM,CAAC,GAAG,CAAC,KAAK,CAAC;QAEjB,MAAM,IAAI,GAAG,KAAK,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;QAC1B,MAAM,KAAK,GAAG,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAW,CAAC;QAE9C,QAAQ,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC;IACxB,CAAC,CAAC,CAAC;IAEH,gFAAgF;IAEhF,IAAI,CAAC,gEAAgE,EAAE,GAAG,EAAE;QAC1E,MAAM,CAAC,GAAG,MAAM,CAAC;QACjB,MAAM,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC;QAEjB,MAAM,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACrB,CAAC,CAAC,CAAC;IAEH,IAAI,CAAC,sDAAsD,EAAE,GAAG,EAAE;QAChE,MAAM,CAAC,GAAY,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC;QAChC,QAAQ,CAAC,CAAC,EAAE,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;IAC1B,CAAC,CAAC,CAAC;AACL,CAAC,CAAC,CAAC"}

package/dist/categories/helpers/__tests__/rot-1.spec.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=rot-1.spec.d.ts.map

package/dist/categories/helpers/__tests__/rot-1.spec.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"rot-1.spec.d.ts","sourceRoot":"","sources":["../../../../src/categories/helpers/__tests__/rot-1.spec.ts"],"names":[],"mappings":""}

package/dist/categories/helpers/__tests__/rot-1.spec.js

@@ -0,0 +1,59 @@
+import assert from 'node:assert/strict';
+import test, { describe } from 'node:test';
+import { rot1 } from '../rot-1';
+import { absClose, matRelClose } from 'packages/equations/src/__tests__/helpers';
+import { applyMatrix3 } from '../apply-matrix-3';
+import { matMul3 } from '../mat-mul3';
+import { transpose3 } from '../transpose-3';
+import { det3 } from '../det-3';
+const I3 = [
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, 1]
+];
+describe('rot1', () => {
+    test('returns identity at theta = 0', () => {
+        const R = rot1(0);
+        matRelClose(R, I3, 1e-12);
+    });
+    test('rotates Y to +Z by +90° about +X (right-handed active rotation)', () => {
+        const R = rot1((Math.PI / 2));
+        const yAxis = [0, 1, 0];
+        const out = applyMatrix3(R, yAxis);
+        // Expect [0, 0, 1]
+        absClose(out[0], 0, 1e-12);
+        absClose(out[1], 0, 1e-12);
+        absClose(out[2], 1, 1e-12);
+    });
+    test('rotates Z to -Y by +90° about +X', () => {
+        const R = rot1((Math.PI / 2));
+        const zAxis = [0, 0, 1];
+        const out = applyMatrix3(R, zAxis);
+        // Expect [0, -1, 0]
+        absClose(out[0], 0, 1e-12);
+        absClose(out[1], -1, 1e-12);
+        absClose(out[2], 0, 1e-12);
+    });
+    test('is orthonormal: RᵀR ≈ I', () => {
+        const R = rot1(1.234);
+        const RtR = matMul3(transpose3(R), R);
+        matRelClose(RtR, I3, 1e-12);
+    });
+    test('has determinant +1 (proper rotation)', () => {
+        const R = rot1(0.789);
+        absClose(det3(R), 1, 1e-12, `det(R) expected ~1`);
+    });
+    test('inverse equals rotation by -theta: R(theta) * R(-theta) ≈ I', () => {
+        const theta = 0.456;
+        const R = rot1(theta);
+        const Rinv = rot1(-0.456);
+        matRelClose(matMul3(R, Rinv), I3, 1e-12);
+    });
+    test('throws TypeError when theta is not finite', () => {
+        assert.throws(() => rot1(Number.NaN), (err) => err instanceof TypeError &&
+            err.message === 'theta must be finite. Received: NaN');
+        assert.throws(() => rot1(Number.POSITIVE_INFINITY), (err) => err instanceof TypeError &&
+            err.message === 'theta must be finite. Received: Infinity');
+    });
+});
+//# sourceMappingURL=rot-1.spec.js.map

package/dist/categories/helpers/__tests__/rot-1.spec.js.map

@@ -0,0 +1 @@
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package/dist/categories/helpers/__tests__/rot-3.spec.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=rot-3.spec.d.ts.map

package/dist/categories/helpers/__tests__/rot-3.spec.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"rot-3.spec.d.ts","sourceRoot":"","sources":["../../../../src/categories/helpers/__tests__/rot-3.spec.ts"],"names":[],"mappings":""}

package/dist/categories/helpers/__tests__/rot-3.spec.js

@@ -0,0 +1,65 @@
+import assert from 'node:assert/strict';
+import test, { describe } from 'node:test';
+import { rot3 } from '../rot-3';
+import { absClose, matRelClose, relClose } from 'packages/equations/src/__tests__/helpers';
+import { applyMatrix3 } from '../apply-matrix-3';
+import { matMul3 } from '../mat-mul3';
+import { det3 } from '../det-3';
+import { transpose3 } from '../transpose-3';
+const I3 = [
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, 1]
+];
+describe('rot3', () => {
+    test('returns identity at theta = 0', () => {
+        const R = rot3(0);
+        matRelClose(R, I3, 1e-12);
+    });
+    test('rotates +X to +Y by +90° about +Z (right-handed active rotation)', () => {
+        const R = rot3((Math.PI / 2));
+        const xAxis = [1, 0, 0];
+        const out = applyMatrix3(R, xAxis);
+        // Expect [0, 1, 0]
+        absClose(out[0], 0, 1e-12);
+        absClose(out[1], 1, 1e-12);
+        absClose(out[2], 0, 1e-12);
+    });
+    test('rotates +Y to -X by +90° about +Z', () => {
+        const R = rot3((Math.PI / 2));
+        const yAxis = [0, 1, 0];
+        const out = applyMatrix3(R, yAxis);
+        // Expect [-1, 0, 0]
+        absClose(out[0], -1, 1e-12);
+        absClose(out[1], 0, 1e-12);
+        absClose(out[2], 0, 1e-12);
+    });
+    test('leaves Z component unchanged (rotation about Z)', () => {
+        const R = rot3(1.234);
+        const v = [1, 2, 3];
+        const out = applyMatrix3(R, v);
+        relClose(out[2], v[2]); // z unchanged
+    });
+    test('is orthonormal: RᵀR ≈ I', () => {
+        const R = rot3(2.345);
+        const RtR = matMul3(transpose3(R), R);
+        matRelClose(RtR, I3, 1e-12);
+    });
+    test('has determinant +1 (proper rotation)', () => {
+        const R = rot3(0.789);
+        absClose(det3(R), 1, 1e-12, `det(R) expected ~1`);
+    });
+    test('inverse equals rotation by -theta: R(theta) * R(-theta) ≈ I', () => {
+        const theta = 0.456;
+        const R = rot3(theta);
+        const Rinv = rot3(-0.456);
+        matRelClose(matMul3(R, Rinv), I3, 1e-12);
+    });
+    test('throws TypeError when theta is not finite', () => {
+        assert.throws(() => rot3(Number.NaN), (err) => err instanceof TypeError &&
+            err.message === 'theta must be finite. Received: NaN');
+        assert.throws(() => rot3(Number.POSITIVE_INFINITY), (err) => err instanceof TypeError &&
+            err.message === 'theta must be finite. Received: Infinity');
+    });
+});
+//# sourceMappingURL=rot-3.spec.js.map

package/dist/categories/helpers/__tests__/rot-3.spec.js.map

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package/dist/categories/helpers/apply-matrix-3.d.ts

@@ -0,0 +1,38 @@
+import { Matrix3x3Type, Vector3DTupleType } from '@interstellar-tools/types';
+/**
+ * Apply a **3×3 matrix** to a **3D vector** (matrix–vector multiplication).
+ *
+ * Computes:
+ * $$
+ * \mathbf{y} = \mathbf{M}\,\mathbf{v}
+ * $$
+ *
+ * With row-major indexing:
+ * - `M[row][col]`
+ * - `v = [x, y, z]`
+ *
+ * This is commonly used for:
+ * - Applying a **direction cosine matrix (DCM)** / rotation matrix to transform vectors
+ *   between frames (e.g., inertial → body-fixed).
+ * - Small 3D linear transforms in geometry and mapping pipelines.
+ *
+ * @param M - 3×3 matrix (row-major) (all finite).
+ * @param v - 3D vector `[x, y, z]` (all finite).
+ * @returns The transformed vector `M * v` as a 3D tuple.
+ * @group Helpers
+ *
+ * @example
+ * ```ts
+ * const M: Matrix3x3Type = [
+ *   [1, 0, 0],
+ *   [0, 0, -1],
+ *   [0, 1, 0]
+ * ];
+ *
+ * const v: Vector3DTupleType = [1, 2, 3];
+ * const out = applyMatrix3(M, v);
+ * // out === [1, -3, 2]
+ * ```
+ */
+export declare const applyMatrix3: (M: Matrix3x3Type, v: Vector3DTupleType) => Vector3DTupleType;
+//# sourceMappingURL=apply-matrix-3.d.ts.map

package/dist/categories/helpers/apply-matrix-3.d.ts.map

@@ -0,0 +1 @@
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package/dist/categories/helpers/apply-matrix-3.js

@@ -0,0 +1,44 @@
+/**
+ * Apply a **3×3 matrix** to a **3D vector** (matrix–vector multiplication).
+ *
+ * Computes:
+ * $$
+ * \mathbf{y} = \mathbf{M}\,\mathbf{v}
+ * $$
+ *
+ * With row-major indexing:
+ * - `M[row][col]`
+ * - `v = [x, y, z]`
+ *
+ * This is commonly used for:
+ * - Applying a **direction cosine matrix (DCM)** / rotation matrix to transform vectors
+ *   between frames (e.g., inertial → body-fixed).
+ * - Small 3D linear transforms in geometry and mapping pipelines.
+ *
+ * @param M - 3×3 matrix (row-major) (all finite).
+ * @param v - 3D vector `[x, y, z]` (all finite).
+ * @returns The transformed vector `M * v` as a 3D tuple.
+ * @group Helpers
+ *
+ * @example
+ * ```ts
+ * const M: Matrix3x3Type = [
+ *   [1, 0, 0],
+ *   [0, 0, -1],
+ *   [0, 1, 0]
+ * ];
+ *
+ * const v: Vector3DTupleType = [1, 2, 3];
+ * const out = applyMatrix3(M, v);
+ * // out === [1, -3, 2]
+ * ```
+ */
+export const applyMatrix3 = (M, v) => {
+    const [x, y, z] = v;
+    return [
+        M[0][0] * x + M[0][1] * y + M[0][2] * z,
+        M[1][0] * x + M[1][1] * y + M[1][2] * z,
+        M[2][0] * x + M[2][1] * y + M[2][2] * z
+    ];
+};
+//# sourceMappingURL=apply-matrix-3.js.map

package/dist/categories/helpers/apply-matrix-3.js.map

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package/dist/categories/helpers/det-3.d.ts

@@ -0,0 +1,52 @@
+import type { Matrix3x3Type } from '@interstellar-tools/types';
+/**
+ * Compute the **determinant** of a **3×3** matrix (row-major).
+ *
+ * For:
+ * $$
+ * \mathbf{A}=
+ * \begin{bmatrix}
+ * a & b & c \\
+ * d & e & f \\
+ * g & h & i
+ * \end{bmatrix}
+ * $$
+ *
+ * This returns:
+ * $$
+ * \det(\mathbf{A}) = a(ei - fh) - b(di - fg) + c(dh - eg)
+ * $$
+ *
+ * Notes:
+ * - Matrices are treated as **row-major**: `A[row][col]`.
+ * - For a proper rotation matrix / DCM, `det(A) ≈ +1`.
+ * - A determinant of `0` indicates the matrix is singular (non-invertible).
+ *
+ * @param A - 3×3 matrix (row-major).
+ * @returns Determinant `det(A)`.
+ * @group Helpers
+ *
+ * @example
+ * ```ts
+ * const I: Matrix3x3Type = [
+ *   [1, 0, 0],
+ *   [0, 1, 0],
+ *   [0, 0, 1]
+ * ];
+ *
+ * det3(I); // 1
+ * ```
+ *
+ * @example
+ * ```ts
+ * const A: Matrix3x3Type = [
+ *   [1, 2, 3],
+ *   [0, 1, 4],
+ *   [5, 6, 0]
+ * ];
+ *
+ * det3(A); // 1
+ * ```
+ */
+export declare const det3: (A: Matrix3x3Type) => number;
+//# sourceMappingURL=det-3.d.ts.map

package/dist/categories/helpers/det-3.d.ts.map

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package/dist/categories/helpers/det-3.js

@@ -0,0 +1,62 @@
+/**
+ * Compute the **determinant** of a **3×3** matrix (row-major).
+ *
+ * For:
+ * $$
+ * \mathbf{A}=
+ * \begin{bmatrix}
+ * a & b & c \\
+ * d & e & f \\
+ * g & h & i
+ * \end{bmatrix}
+ * $$
+ *
+ * This returns:
+ * $$
+ * \det(\mathbf{A}) = a(ei - fh) - b(di - fg) + c(dh - eg)
+ * $$
+ *
+ * Notes:
+ * - Matrices are treated as **row-major**: `A[row][col]`.
+ * - For a proper rotation matrix / DCM, `det(A) ≈ +1`.
+ * - A determinant of `0` indicates the matrix is singular (non-invertible).
+ *
+ * @param A - 3×3 matrix (row-major).
+ * @returns Determinant `det(A)`.
+ * @group Helpers
+ *
+ * @example
+ * ```ts
+ * const I: Matrix3x3Type = [
+ *   [1, 0, 0],
+ *   [0, 1, 0],
+ *   [0, 0, 1]
+ * ];
+ *
+ * det3(I); // 1
+ * ```
+ *
+ * @example
+ * ```ts
+ * const A: Matrix3x3Type = [
+ *   [1, 2, 3],
+ *   [0, 1, 4],
+ *   [5, 6, 0]
+ * ];
+ *
+ * det3(A); // 1
+ * ```
+ */
+export const det3 = (A) => {
+    const a = A[0][0];
+    const b = A[0][1];
+    const c = A[0][2];
+    const d = A[1][0];
+    const e = A[1][1];
+    const f = A[1][2];
+    const g = A[2][0];
+    const h = A[2][1];
+    const i = A[2][2];
+    return a * (e * i - f * h) - b * (d * i - f * g) + c * (d * h - e * g);
+};
+//# sourceMappingURL=det-3.js.map

package/dist/categories/helpers/det-3.js.map

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