✨ feat(transforms): compose time-dependent rotations with @

[nstarman]

Summary

Rotate.__matmul__ raised NotImplementedError whenever either operand had a callable (time-dependent) rotation matrix:

spin = cxfm.Rotate.from_(R_of_t)
spin @ spin   # NotImplementedError: @ is not yet implemented for Rotate with callable R.

so rotating frames could only be combined via |/Composed, not @. Surfaced by the v0.24 pre-release audit.

Fix

Compose pointwise in tau: op1 @ op2 yields a Rotate whose matrix is op2.R(τ) @ op1.R(τ), matching the existing constant-matrix convention (op1 @ op2).R == op2.R @ op1.R. A small ComposedR wrapper (alongside the existing Neg) evaluates the two operands — each a constant matrix or a callable of τ — and returns their product, so the result materializes/JITs correctly and is reported as time-dependent. Mixed callable/constant operands work too.

Verification

• Composition matches the pointwise product op2.R(τ) @ op1.R(τ).
• Acting with op1 @ op2 equals applying op1 then op2.
• is_time_dependent(op1 @ op2) is True; constant @ unchanged.
• New unit tests (test_simplify.py) + a doctest; tests/unit/transforms passes (264).

Built on current main (post-#571, unxt v2.0).

🤖 Generated with Claude Code

[Copilot]

Pull request overview

Enables Rotate.__matmul__ (@) for time-dependent (callable) rotation matrices by composing the two rotations pointwise in tau, so rotating frames can be combined with @ (not only via |/Composed) while preserving the existing constant-matrix convention.

Changes:

• Add ComposedR wrapper to represent the pointwise product of two rotation parameters (constant or callable).
• Update Rotate.__matmul__ to return a time-dependent Rotate when either operand’s R is callable.
• Add unit tests covering callable/callable and callable/constant @ composition semantics.

Reviewed changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 1 comment.

File	Description
src/coordinax/transforms/_src/actions/utils.py	Adds ComposedR helper used to compose constant/callable rotation parameters uniformly.
src/coordinax/transforms/_src/actions/rotate.py	Implements callable-aware Rotate.__matmul__ using ComposedR and adds a doctest example.
tests/unit/transforms/test_simplify.py	Adds tests validating pointwise composition and action equivalence for callable rotations.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 94.69%. Comparing base (b6aa5dd) to head (73b298a).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #585      +/-   ##
==========================================
+ Coverage   94.66%   94.69%   +0.03%     
==========================================
  Files         247      247              
  Lines        7894     7904      +10     
==========================================
+ Hits         7473     7485      +12     
+ Misses        421      419       -2     

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[Copilot]

Pull request overview

Copilot reviewed 3 out of 3 changed files in this pull request and generated no new comments.