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The set of all orthogonal matrices of size n with determinant +1 is a representation of a group known as the special orthogonal group SO(n), one example of which is the rotation group SO(3). The set of all orthogonal matrices of size n with determinant +1 or −1 is a representation of the (general) orthogonal group O( n ) .
Rotation matrices have a determinant of +1, and reflection matrices have a determinant of −1. The set of all orthogonal two-dimensional matrices together with matrix multiplication form the orthogonal group: O(2). The following table gives examples of rotation and reflection matrix :
A Givens rotation acting on a matrix from the left is a row operation, moving data between rows but always within the same column. Unlike the elementary operation of row-addition, a Givens rotation changes both of the rows addressed by it.
Thus, the determinant of a rotation orthogonal matrix must be 1. The only other possibility for the determinant of an orthogonal matrix is −1, and this result means the transformation is a hyperplane reflection, a point reflection (for odd n), or another kind of improper rotation. Matrices of all proper rotations form the special orthogonal ...
A rotation of the vector through an angle θ in counterclockwise direction is given by the rotation matrix: = ( ), which can be viewed either as an active transformation or a passive transformation (where the above matrix will be inverted), as described below.
However, both the definition of the elemental rotation matrices X, Y, Z, and their multiplication order depend on the choices taken by the user about the definition of both rotation matrices and Euler angles (see, for instance, Ambiguities in the definition of rotation matrices). Unfortunately, different sets of conventions are adopted by users ...
The rotations were described by orthogonal matrices referred to as rotation matrices or direction cosine matrices. When used to represent an orientation, a rotation matrix is commonly called orientation matrix, or attitude matrix. The above-mentioned Euler vector is the eigenvector of a rotation matrix (a rotation matrix has a unique real ...
Moreover, since composition of rotations corresponds to matrix multiplication, the rotation group is isomorphic to the special orthogonal group SO(3). Improper rotations correspond to orthogonal matrices with determinant −1, and they do not form a group because the product of two improper rotations is a proper rotation.