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Rodrigues' rotation formula. In the theory of three-dimensional rotation, Rodrigues' rotation formula, named after Olinde Rodrigues, is an efficient algorithm for rotating a vector in space, given an axis and angle of rotation. By extension, this can be used to transform all three basis vectors to compute a rotation matrix in SO (3), the group ...
Rotation matrix. In linear algebra, a rotation matrix is a transformation matrix that is used to perform a rotation in Euclidean space. For example, using the convention below, the matrix. rotates points in the xy plane counterclockwise through an angle θ about the origin of a two-dimensional Cartesian coordinate system.
Quaternions give a simple way to encode this [7] axis–angle representation using four real numbers, and can be used to apply (calculate) the corresponding rotation to a position vector (x,y,z), representing a point relative to the origin in R 3. Euclidean vectors such as (2, 3, 4) or (a x, a y, a z) can be rewritten as 2 i + 3 j + 4 k or a x ...
The difference between two coordinates immediately yields the single axis of rotation and angle between the two orientations. The natural log of a quaternion represents curving space by 3 angles around 3 axles of rotation, and is expressed in arc-length; similar to Euler angles, but order independent. [10]
Spherical trigonometry. The octant of a sphere is a spherical triangle with three right angles. Spherical trigonometry is the branch of spherical geometry that deals with the metrical relationships between the sides and angles of spherical triangles, traditionally expressed using trigonometric functions. On the sphere, geodesics are great circles.
Classical elements of a quaternion. Hamilton defined a quaternion as the quotient of two directed lines in tri dimensional space; [1] or, more generally, as the quotient of two vectors. [2] A quaternion can be represented as the sum of a scalar and a vector. It can also be represented as the product of its tensor and its versor.
Dot product. In mathematics, the dot product or scalar product[note 1] is an algebraic operation that takes two equal-length sequences of numbers (usually coordinate vectors), and returns a single number. In Euclidean geometry, the dot product of the Cartesian coordinates of two vectors is widely used. It is often called the inner product (or ...
This is the convention followed in this article. In mathematics, a spherical coordinate system is a coordinate system for three-dimensional space where the position of a given point in space is specified by three real numbers: the radial distance r along the radial line connecting the point to the fixed point of origin; the polar angle θ ...