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Rotate the vector v = (X, Y, Z) around the rotation vector Q = (X, Y, Z). The angle of rotation will be θ = ‖ Q ‖. Calculate the cosine of the angle times the vector to rotate, plus sine of the angle times the axis of rotation, plus one minus cosine of the angle times the dot product of the vector and rotation axis times the axis of rotation.
The sum of the entries along the main diagonal (the trace), plus one, equals 4 − 4(x 2 + y 2 + z 2), which is 4w 2. Thus we can write the trace itself as 2w 2 + 2w 2 − 1; and from the previous version of the matrix we see that the diagonal entries themselves have the same form: 2x 2 + 2w 2 − 1, 2y 2 + 2w 2 − 1, and 2z 2 + 2w 2 − 1. So ...
In mathematics, the cross product or vector product (occasionally directed area product, to emphasize its geometric significance) is a binary operation on two vectors in a three-dimensional oriented Euclidean vector space (named here ), and is denoted by the symbol . Given two linearly independent vectors a and b, the cross product, a × b ...
A spatial rotation is a linear map in one-to-one correspondence with a 3 × 3 rotation matrix R that transforms a coordinate vector x into X, that is Rx = X. Therefore, another version of Euler's theorem is that for every rotation R , there is a nonzero vector n for which Rn = n ; this is exactly the claim that n is an eigenvector of R ...
In mathematics, physics, and engineering, a Euclidean vector or simply a vector (sometimes called a geometric vector[1] or spatial vector[2]) is a geometric object that has magnitude (or length) and direction. Euclidean vectors can be added and scaled to form a vector space. A vector quantity is a vector-valued physical quantity, including ...
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 ...
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 ...
Right-hand rule. In mathematics and physics, the right-hand rule is a convention and a mnemonic, utilized to define the orientation of axes in three-dimensional space and to determine the direction of the cross product of two vectors, as well as to establish the direction of the force on a current-carrying conductor in a magnetic field.