public static Vector2D_F64 computeTangent( double t ,
											   EllipseRotated_F64 ellipse ,
											   Vector2D_F64 output  ) {
		if( output == null )
			output = new Vector2D_F64();

		double ct = Math.cos(t);
		double st = Math.sin(t);
		double cphi = Math.cos(ellipse.phi);
		double sphi = Math.sin(ellipse.phi);

		// point in ellipse frame multiplied by b^2 and a^2
		double x = ellipse.a*ct*ellipse.b*ellipse.b;
		double y = ellipse.b*st*ellipse.a*ellipse.a;

		// rotate vector normal into world frame
		double rx = x*cphi - y*sphi;
		double ry = x*sphi + y*cphi;

		// normalize and change into tangent
		double r = Math.sqrt(rx*rx + ry*ry);

		output.x = -ry/r;
		output.y = rx/r;

		return output;
	}
public static Vector2D_F64 computeTangent( double t ,
											   EllipseRotated_F64 ellipse ,
											   Vector2D_F64 output  ) {
		if( output == null )
			output = new Vector2D_F64();

		double ct = Math.cos(t);
		double st = Math.sin(t);
		double cphi = Math.cos(ellipse.phi);
		double sphi = Math.sin(ellipse.phi);

		
		double x = ellipse.a*ct*ellipse.b*ellipse.b;
		double y = ellipse.b*st*ellipse.a*ellipse.a;

		
		double rx = x*cphi - y*sphi;
		double ry = x*sphi + y*cphi;

		
		double r = Math.sqrt(rx*rx + ry*ry);

		output.x = -ry/r;
		output.y = rx/r;

		return output;
	}
public static Vector2D_F64 computeTangent ( double t , EllipseRotated_F64 ellipse , Vector2D_F64 output ) { if ( output == null ) output = new Vector2D_F64 ( ) ; double ct = Math . cos ( t ) ; double st = Math . sin ( t ) ; double cphi = Math . cos ( ellipse . phi ) ; double sphi = Math . sin ( ellipse . phi ) ; // point in ellipse frame multiplied by b^2 and a^2 double x = ellipse . a * ct * ellipse . b * ellipse . b ; double y = ellipse . b * st * ellipse . a * ellipse . a ; // rotate vector normal into world frame double rx = x * cphi - y * sphi ; double ry = x * sphi + y * cphi ; // normalize and change into tangent double r = Math . sqrt ( rx * rx + ry * ry ) ; output . x = - ry / r ; output . y = rx / r ; return output ; }
Computes the tangent to the ellipse at the specified location

@param t Location on the ellipse.  Radians
@param ellipse Ellipse equation
@param output Optional storage for tangent
@return The tangent
Computes the tangent to the ellipse at the specified location