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Givens rotation

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This is the Givens rotation method in Golub's book. It differs a sign with Matlab's method

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This is the Givens rotation method in Golub's "Matrix Computation". The c=cos(theta) is not always positive. By contrast, c=cos(theta) in Matlab's approach is always positive. But the results are still correct.

Reference: Golub and Van Loan, "Matrix Computation".

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