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Every rotation in three dimensions is defined by its axis (a vector along this axis is unchanged by the rotation), and its angle — the amount of rotation about that axis (Euler rotation theorem). There are several methods to compute the axis and angle from a rotation matrix (see also axis–angle representation ).
Rotation formalisms are focused on proper (orientation-preserving) motions of the Euclidean space with one fixed point, that a rotation refers to.Although physical motions with a fixed point are an important case (such as ones described in the center-of-mass frame, or motions of a joint), this approach creates a knowledge about all motions.
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 old coordinates (x, y, z) of a point Q are related to its new coordinates (x′, y′, z′) by [14] [′ ′ ′] = [ ] []. Generalizing to any finite number of dimensions, a rotation matrix A {\displaystyle A} is an orthogonal matrix that differs from the identity matrix in at most four elements.
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 ...
That it is an orthogonal matrix means that its rows are a set of orthogonal unit vectors (so they are an orthonormal basis) as are its columns, making it simple to spot and check if a matrix is a valid rotation matrix. Above-mentioned Euler angles and axis–angle representations can be easily converted to a rotation matrix.
The XYZ system rotates about the z axis by γ. The X axis is now at angle γ with respect to the x axis. The XYZ system rotates again, but this time about the x axis by β. The Z axis is now at angle β with respect to the z axis. The XYZ system rotates a third time, about the z axis again, by angle α. In sum, the three elemental rotations ...
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 of all rotation matrices ...