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More specifically, they can be characterized as orthogonal matrices with determinant 1; that is, a square matrix R is a rotation matrix if and only if R T = R −1 and det R = 1. The set of all orthogonal matrices of size n with determinant +1 is a representation of a group known as the special orthogonal group SO( n ) , one example of which is ...
A point P has coordinates (x, y) with respect to the original system and coordinates (x′, y′) with respect to the new system. [1] In the new coordinate system, the point P will appear to have been rotated in the opposite direction, that is, clockwise through the angle . A rotation of axes in more than two dimensions is defined similarly.
Thus, the determinant of a rotation orthogonal matrix must be 1. The only other possibility for the determinant of an orthogonal matrix is −1, and this result means the transformation is a hyperplane reflection, a point reflection (for odd n), or another kind of improper rotation. Matrices of all proper rotations form the special orthogonal ...
The rotations were described by orthogonal matrices referred to as rotation matrices or direction cosine matrices. When used to represent an orientation, a rotation matrix is commonly called orientation matrix, or attitude matrix. The above-mentioned Euler vector is the eigenvector of a rotation matrix (a rotation matrix has a unique real ...
The latter is obtained by expanding the corresponding linear transformation matrix by one row and column, filling the extra space with zeros except for the lower-right corner, which must be set to 1. For example, the counter-clockwise rotation matrix from above becomes: [ ]
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 ...
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.
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. An infinitesimal rotation matrix has the form