This tag is for questions about *rotations*: a type of rigid motion in a space.

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9
votes
6answers
2k views

Jacobian matrix of the Rodrigues' formula (exponential map)

I am working an algorithm which is supposed to align a pair of images. The motion model, which describes the pose $p$ of an image (with respect to the second) in 3D space, is purely rotational. ...
0
votes
2answers
54 views

Rotation of Matrices and their interpretation

Given are now two matrices and I have to discuss what the given functions are doing (geometrically). Maybe you can revise/add the following: given are the matrices $ A = \begin{pmatrix} \cos(a) ...
11
votes
6answers
15k views

Calculate Rotation Matrix to align Vector A to Vector B in 3d?

I have one triangle in 3d space that I am tracking in a simulation. Between time steps I have the the previous normal of the triangle and the current normal of the triangle along with both the current ...
7
votes
2answers
13k views

How do you rotate a vector by a unit quaternion?

Given a 3-variable right-handed vector v that is a translation measured in local space and a unit quaternion representing an orientation from local to world space, how do you use the quaternion to ...
3
votes
1answer
5k views

Understanding rotation matrices

How does $ {\sqrt 2 \over 2} = \cos (45 \text{ degrees })$? Is my graph (the one underneath the original) accurate with how I've depicted the representation of the triangle that the trig function ...
5
votes
2answers
620 views

Aren't asteroids contradicting Euler's rotation theorem?

I am totally confused about Euler's rotation theorem. Normally I would think that an asteroid could rotate around two axes simultaneously. But Euler's rotation theorem states that: In geometry, ...
5
votes
3answers
449 views

Freedoms of real orthogonal matrices

I was trying to figure out, how many degrees of freedoms a $n\times n$-orthogonal matrix posses.The easiest way to determine that seems to be the fact that the matrix exponential of an antisymmetric ...
4
votes
2answers
2k views

Rotating one 3-vector to another

I have written an algorithm for solving the following problem: Given two 3-vectors, say: $a,b$, find rotation of $a$ so that its orientation matches $b$. However, I am not sure if the following ...
0
votes
2answers
37 views

Find the axis of rotation from the rotation matrix.

This is a problem from the book "Mathematical Methods in the Physical Sciences" Third Edition by author Mary L. Boas. on page 129, Example 5, just in case any of you are familiar with it. So I ...
0
votes
1answer
788 views

Determine whether or not a point lies within a rotated rectangle

I need some maths help for a 2D game I am programming. In this game I have a rectangle, specified by its centers' X and Y coordinates, and its width and height. I then rotate this rectangle via ...
4
votes
1answer
127 views

Angular alignment of points on two concentric circles

I have two concentric circles $C_1$ and $C_2$ with radii $r_1,r_2$ such that $r_1< r_2$and a set of finite points $P=\left \{ p_1,p_2...p_n \right \}$ and $Q=\left \{ q_1,q_2...q_n \right \}$ are ...
4
votes
1answer
287 views

Uniform distributions on the space of rotations in 3D

I believe on moral grounds that the following three definitions are equivalent, and determine "the" uniform distribution on rotations in three dimensions. The Haar measure on $SO(3)$. The uniform ...
3
votes
3answers
584 views

How to create 2x2 matrix to rotate vector to right side?

I have vector u=(x,y) and i need to create matrix M: M*u=(1,0). But that matrix has to rotate vector, instead of keep and ...
6
votes
3answers
190 views

Prove where exp: Skew($3\times 3$) $\rightarrow SO(3)$ is local homeomorphism

The matrix exponential on skew-symmetric $3\times3$ matrices onto $SO(3)$ is not local homeomorphism everywhere. I have been instructed that one problem is with the spheres of radius $2n\pi$ ...
5
votes
1answer
110 views

Whether matrix exponential from skew-symmetric 3x3 matrices to SO(3) is local homeomorphism?

$SO(3)$ denotes 3x3 rotation matrices. This is Lie group, with corresponding Lie algebra being $\mathrm{Skew}_3$, the space of 3x3 skew-symmetric matrices. The link between them is the matrix ...
4
votes
1answer
73 views

Optimal rotation to align a circle with external points

I have a circle $C$ with radius $r$ and a set of finite points $P=\left \{ p_1,p_2,\ldots,p_n \right \}$ are identified external to the circle $C$. These points may lie on the exterior or the interior ...
4
votes
2answers
301 views

How to solve an overdetermined system of point mappings via rotation and translation

I have a set of points in one coordinate system $P_1, \ldots, P_n$ and their corresponding points in another coordinate system $Q_1, \ldots , Q_n$. All points are in $\mathbb{R}^3$. I'm looking for a ...
3
votes
1answer
446 views

Can axis/angle notation match all possible orientations of a rotation matrix?

The rotation group is isomorphic to the orthogonal group $SO(3)$. So a rotation matrix can represent all the possible rotation transformations on the euclidean space $R3$ obtainable by the operation ...
2
votes
1answer
68 views

How can I break down a rotation of known amount around a known axis into two rotations of unknown amounts around known axes?

I have a vector that's been rotated a known amount about a known axis. I would like to break this rotation down into two separate rotations around known, linearly independent axes where the amounts I ...
2
votes
1answer
100 views

Find rotation that maps a point to its target

I have a 3D point that is rotated about the $x$-axis and after that about the $y$-axis. I know the result of this transformation. Is there an analytical way to compute the rotation angles? $$ ...
2
votes
1answer
829 views

Solid body rotation around 2-axes

I am trying to understand how to describe the rotation of a solid body flying in 3D space. From physics forums, I understand that the rotation of any solid object in space, is around 2 axes ...
2
votes
1answer
777 views

Confusion on different representations of 2d rotation matrices

When I first learned about 2d rotation matrices I read that you represented your point in your new coordinate system. That is you take the dot product of your vector in its current coordinate system ...
1
vote
0answers
94 views

Rotating an $n$-dimensional hyperplane

Let $\mathcal{H}: \mathbf{x}^T\mathbf{w}+b=0$ be a hyperplane in the $n$-dimensional Euclidean space of column vectors. Is there a way of "rotating" the above hyperplane such that it coincides with ...
1
vote
1answer
202 views

Rectangle in rotated bounding rectangle

I'm looking to find the width and height of a rectangle without rotation within a rotated bounding rectangle. I have rotation in degrees and the width and height of the bounding rectangle. Basically ...
1
vote
2answers
233 views

Minimization on the Lie Group SO(3)

Refering to a question previously asked Jacobian matrix of the Rodrigues' formula (exponential map). It was suggested in one of the answer to only calculate simpler Jacobian ...
8
votes
1answer
173 views

Do rotations about any three non-collinear axes generate $SO(3)$?

Suppose we have three rotations $r_1$, $r_2$ and $r_3$ in $SO(3)$. Each $r_i$ is a rotation about axis $a_i$ by an irrational multiple of $\pi$. When considered as unit vectors $a_1$, $a_2$, $a_3$, ...
5
votes
1answer
95 views

Could someone explain chirality from a group theory point of view?

While answering this question my interest in the rotation/reflection group was piqued. I personally know very basic group theory, not much more than what a group really is. I understand that the ...
5
votes
1answer
1k views

Efficient and Accurate Numerical Implementation of the Inverse Rodrigues Rotation Formula (Rotation Matrix -> Axis-Angle)

I want to implement the Inverse Rodrigues Rotation Formula (also known as Log map from SO(3) to so(3)), in double precision code (MATLAB is fine for the example) preferably as a 3-parameter vector ...
3
votes
1answer
114 views

Relationship between two maps from $SU(2)$ to $SO(3)$

I have two maps from $SU(2) \to SO(3)$. For the first map, think of $SU(2)$ as the group of unit quaternions. Under this identification, we can give a map $f: SU(2) \to SO(3)$ given by $SU(2)$ ...
3
votes
2answers
342 views

Solution to $AX=XB$ for $3\times3$ rotation matrices.

Given the $3\times3$ rotation matrices $A$ and $B$, find the rotation matrix $X$ that satisfies $$AX=XB.$$
3
votes
1answer
370 views

How do I get a tangent to a rotated ellipse in a given point?

I have just graduated from a school you would call High School and even though we talked about tangents to ellipses, we never covered rotated ellipses. So, what I am looking for, is a formula for a ...
3
votes
1answer
235 views

Do two rotations densely generate $SO(3)$?

Suppose that you are given two rotations $R_1$ and $R_2$ in $SO(3)$ with the following properties: $R_1$ is a rotation by an irrational multiple of $\pi$ about the z-axis. $R_2$ is a rotation by a ...
3
votes
3answers
7k views

Rotate a point in circle about an angle

How should I rotate a point (x,y) to location (a,b) on the co-ordinate by any angle?
2
votes
2answers
74 views

How do I rotate a given point on $\mathbb{S}^n$ so that I send it to the South Pole

This seems pretty trivial but I'm not sure what to do. My coordinates are Cartesian, and I want to send point the $(x_1,...,x_{n-1},x_n)$ to point $(0,...,0,-1)$ so that all the other points are also ...
1
vote
1answer
332 views

Closed-form for eigenvectors of rotation matrix

For matrices that are elements of $SO(3)$ is there a formula for the eigenvectors corresponding to the eigenvalue $1$ in terms of the entries of the matrix?
1
vote
2answers
135 views

Rotating between $3$D frames

Given two frames, is it possible to compute any rotation of the form $$R = R_xR_yR_z $$ that would tranform the frame $A$ into the frame $B$? the rotation will be described by Euler angles as I ...
1
vote
2answers
680 views

3 Rotations to unit vector (3D)

I've been trying to solve this problem for some time now, but I could really need some help: I have 3 rotations (one per axis) for an object, and want to create a unit vector telling me in which ...
0
votes
1answer
21 views

Find the Axis of rotation of rotation matrix $K$ after solving $(K-I)v=0$

$$K=\ \begin{pmatrix} 0 & 0 & 1\\ -1 & 0 & 0\\ 0 & -1 & 0 \end{pmatrix}$$ Find the axis of rotation for the rotation matrix $K$. This is from my previous thread click here ...
0
votes
2answers
34 views

How do I calculate the inverse of these matrices?

In learning how to rotate vertices about an arbitrary axis in 3D space, I came across the following matrices, which I need to calculate the inverse of to properly "undo" any rotation caused by them: ...
0
votes
1answer
21 views

How to rotate a 3d vector to be parallel to another 3d vector using quaternions?

I have a vector (a,b,c) and another vector (d,e,f). I'm trying to rotate (a,b,c) so its parallel to (d,e,f) using quaternions. I need help understanding how I would do this. I have so far that a ...
0
votes
1answer
139 views

How to modify a transformation that is based on yaw-pitch-roll or phi-theta-psi?

I’m building a model in a 3D simulation program (MSC Adams) and part of that model is a triangular platform which can translate and rotate in the virtual world, as shown in the 2 images below: ...
0
votes
1answer
63 views

Commutative applying rotations around three axis

Rotating an object in a 3 dimensional space by euler angles might be intuitive but comes with some problems. First, the order of applied rotations around the different axis matters. Second, there is ...
0
votes
5answers
6k views

What are “clockwise” and “counter-clockwise” in matrix rotation?

I'm learning about the math invovled in PCA. For my purposes here, I'm just trying to understand a 90° rotation matrix. I get the concept of a rotation matrix, but when I look on wikipedia, the ...