I'm trying to derive the matrix of a rigid transform to map between two coordinate spaces. I have the origin and the axis directions of the target coordinate space in terms of the known coordinate space; does anyone know how I can solve for the 4x4 rigid transformation matrix given these?
So, in other words, I have two coordinate spaces, A and B, and I know
Point3D originOfBInA; Vector3D xAxisOfBInA; // Unit vector Vector3D yAxisOfBInA; // Unit vector Vector3D zAxisOfBInA; // Unit vector
And I'm trying to find the 4x4 matrix $\quad$