I have multiple objects in my lab which are fully described in two coordinate systems. Both systems are Cartesian and in meters. If they had a common origin but were rotated relative to each other I could easily reconcile the two. Additionally, if it was just a displacement it would be even easier. However the two are offset in rotation and displacement.
What I want to do is find how to convert between the two of them. I would think I would just need the coordinates of the same three objects in the two systems. I know how to do this for two coordinate systems that are rotated OR displaced, but I can't figure out how to do it in a scenario with both rotation and displacement. Anyone got a formula for me or (even better) a link describing how it is done?