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Noting that any identity matrix is a rotation matrix, and that matrix multiplication is associative, we may summarize all these properties by saying that the n × n rotation matrices form a group, which for n > 2 is non-abelian, called a special orthogonal group, and denoted by SO(n), SO(n,R), SO n, or SO n (R), the group of n × n 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, from an axis–angle representation. In terms of Lie theory, the Rodrigues' formula provides an algorithm to compute the exponential map from the Lie algebra so(3) to its Lie group SO(3).
An "almost" triangular matrix, for example, an upper Hessenberg matrix has zero entries below the first subdiagonal. Hollow matrix: A square matrix whose main diagonal comprises only zero elements. Integer matrix: A matrix whose entries are all integers. Logical matrix: A matrix with all entries either 0 or 1.
An infinitesimal rotation matrix or differential rotation matrix is a matrix representing an infinitely small rotation.. While a rotation matrix is an orthogonal matrix = representing an element of () (the special orthogonal group), the differential of a rotation is a skew-symmetric matrix = in the tangent space (the special orthogonal Lie algebra), which is not itself a rotation matrix.
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 :
The generating rotation matrix can be classified with respect to the values θ 1 and θ 2 as follows: If θ 1 = 0 and θ 2 ≠ 0 or vice versa, then the formulae generate simple rotations; If θ 1 and θ 2 are nonzero and θ 1 ≠ θ 2, then the formulae generate double rotations; If θ 1 and θ 2 are nonzero and θ 1 = θ 2, then the formulae ...
An infinitesimal rotation matrix or differential rotation matrix is a matrix representing an infinitely small rotation. While a rotation matrix is an orthogonal matrix = representing an element of () (the special orthogonal group), the differential of a rotation is a skew-symmetric matrix = in the tangent space (the special orthogonal Lie ...
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.