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First rotate the given axis and the point such that the axis lies in one of the coordinate planes (xy, yz or zx) Then rotate the given axis and the point such that the axis is aligned with one of the two coordinate axes for that particular coordinate plane (x, y or z)
By extension, this can be used to transform all three basis vectors to compute a rotation matrix in SO(3), the group of all rotation matrices, from an axis–angle representation. In terms of Lie theory, the Rodrigues' formula provides an algorithm to compute the exponential map from the Lie algebra so(3) to its Lie group SO(3).
The engineering and robotics communities typically use 3-1-3 Euler angles. Notice that after composing the independent rotations, they do not rotate about their axis anymore. The most external matrix rotates the other two, leaving the second rotation matrix over the line of nodes, and the third one in a frame comoving with the body.
The angle θ and axis unit vector e define a rotation, concisely represented by the rotation vector θe.. In mathematics, the axis–angle representation parameterizes a rotation in a three-dimensional Euclidean space by two quantities: a unit vector e indicating the direction of an axis of rotation, and an angle of rotation θ describing the magnitude and sense (e.g., clockwise) of the ...
The Rytz’s axis construction is a basic method of descriptive geometry to find the axes, the semi-major axis and semi-minor axis and the vertices of an ellipse, starting from two conjugated half-diameters. If the center and the semi axis of an ellipse are determined the ellipse can be drawn using an ellipsograph or by hand (see ellipse).
A rotation represented by an Euler axis and angle. In geometry, Euler's rotation theorem states that, in three-dimensional space, any displacement of a rigid body such that a point on the rigid body remains fixed, is equivalent to a single rotation about some axis that runs through the fixed point.
The group Spin(3) is isomorphic to the special unitary group SU(2); it is also diffeomorphic to the unit 3-sphere S 3 and can be understood as the group of versors (quaternions with absolute value 1). The connection between quaternions and rotations, commonly exploited in computer graphics, is explained in quaternions and spatial rotations.
For example, the maximum distance from the origin on the ellipse + = occurs when c 2 = 0, so at the points c 1 = ±1. Similarly, the minimum distance is where c 2 = ±1/3. It is possible now to read off the major and minor axes of this ellipse.