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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 ...
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 ...
The cross product a × b is defined as a vector c that is perpendicular (orthogonal) to both a and b, with a direction given by the right-hand rule [1] and a magnitude equal to the area of the parallelogram that the vectors span. [2] The cross product is defined by the formula [8] [9]
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. It also means that the composition of two ...
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 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 ...
In Einstein notation, the vector field has curl given by: where = ±1 or 0 is the Levi-Civita parity symbol. For a tensor field of order k > 1, the tensor field of order k is defined by the recursive relation where is an arbitrary constant vector. A tensor field of order greater than one may be decomposed into a sum of outer products, and then ...
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 ...