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

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Quaternion integration

If the angular velocity is changing continuously, the following holds true $ q(t)=q(0)\exp\left({\int_{0}^{t}\frac{q_\omega(\tau)}{2}\ d\tau}\right) \tag 1$ Specifications and Data $q(t),q(0)$ ...
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82 views

Complex Numbers vs. Matrix

I have a line starting at the origin, and i extend it to a point $(a,b)$ in the plane. This thing can be called a vector and be represented as $(a,b), [a\text{ }b]^T$ (column vector) or by ...
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75 views

Infinite product of rotation matrices

Suppose we have a product $$\vec v=\left(\vec x^T \cdot R(\vec\varphi_1)\cdot R(\vec\varphi_2)\cdot ...\right)^T,$$ where $R(\vec\varphi_i)$ is a matrix of rotation by $3D$ angle $|\vec\varphi_i|$ ...
3
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50 views

Rotation number of inverse maps on the circle.

I'm still a bit lost in my studies of rotation numbers. Any help is much appreciated! Let's say we have a homeomorphism $F: \mathbb{R} \rightarrow \mathbb{R}$ which is a lift of a homeomorphism ...
3
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0answers
36 views

What does the rotation group of $\mathbb{\bar{Q}}^n$ look like?

There's a structural difference between the rotation groups of $\mathbb{Q}^n$ and $\mathbb{R}^n$; in some abstract sense the former is 'small' (discrete?) while the latter is 'large'. I suspect that ...
3
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35 views

Nontrivial relations in rotation groups

Consider the subgroup $H$ of $SO(3)$ generated by rotations of order $5$ (i.e., rotations by $\frac{2\pi}5$) about the $x$ and $y$ axes. This group certainly isn't finite or discrete (as it's not ...
3
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68 views

Invariants under a transformation

Consider a $j=1,\,SU(2)$ representation (or fundamental $SO(3)$ representation). Suppose that $a_1, b_i, c_i$ with $i=1,2,3$ are vectors transforming under this representation i.e ...
3
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35 views

Dinner group rotation. Sixteen couples. Four couples per house. Four dinners. Each couple to meet all th others, no repetition.

I want to set up a rotation of sixteen couples with four couples per house so that all couples eventually have dinner together, no repetition. Each couple is to host one dinner. Meetings are monthly ...
3
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0answers
194 views

3D Rotation Decomposition?

I have a 3D local xyz coordinate system placed in a world ENU (East-North-Up) coordinate system. The current relationship ...
3
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0answers
111 views

Problems sampling from a $pdf$ over $SO\left(3\right)$

I have a probability density function over $SO\left(3\right)$, which I am trying to sample from. The $pdf$ is given as a generalized fourier series: $$ f\left(\omega,\theta,\phi\right)=\sum ...
2
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0answers
64 views

Rotating a cube about an axis through opposite vertices

I have a cube made using CSS transforms that I'm trying to animate rotating about an axis going through 2 opposite vertices. What I have: Initial cube: ...
2
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0answers
25 views

Random Rotation of Points using Householder matrices

I have $N$ points in $D$ dimensions, were $D$ is big, for sure more than $100$. $N$ is also big. The goal is to produce an algorithm in my code, that will take as input this dataset and will give ...
2
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0answers
58 views

Gradient of a real-valued function on SO(3)

I have struggling with a problem of evaluating the gradient of a cost function on the Lie group of rotations: SO(3). The cost is the following: \begin{equation} ...
2
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0answers
55 views

Find an SO(3) matrix which satisfies some linear constraints

I have the following optimization problem: $\displaystyle \min_R \sum_{i=1}^n (X_i^T R Y_i)^2$ where $R \in \text{SO}(3)$, i.e. is a 3x3 rotation matrix, and $X_i,Y_i \in \mathbb{R}^3$. If $n \le ...
2
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58 views

The angle of an average rotation is $126.5^\circ$?

In the paper "Applications of Quaternions to Computation with Rotations" by Eugene Salamin, 1979 (click here), they get 126.5 degrees as the mean value of the rotation angle of a random rotation (by ...
2
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0answers
82 views

3D rotation group

It is known that the group $\text{SO}(3)$ of rotation-matrices (matrices $A$ with det(A)=1) are generated from three parameters. This can be expressed by the fact, that any rotation matrix is a ...
2
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115 views

Understanding quaternions and axis angle representations

I have a sensor that gives me a quaternion. I convert the quaternion to an axis-angle representation using http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/. When I ...
2
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192 views

Desired Z axis and Yaw to ZXY Euler Angles?

I'm trying to calculate a desired pair of pitch and roll Euler angles (the XY in ZXY format) given a desired z-axis of the rotated frame (expressed in the world frame) and a specified yaw angle ...
2
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83 views

Help me to vizualise this falling ball on spinning Earth

The earth rotates. The ball falls in an latitude, not equator, let say in Germany. I am trying to understand how to express the ball in terms of the angular velocity on the planet. The constant ...
2
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370 views

What's rotation matrix minus its transpose?

In a paper I've been reading ("Non-linear complementary filters on the special orthogonal group", Robert Mahony et al. link: warning PDF) there is an operation: $P_a(\tilde{R}) = \frac{1}{2} ...
2
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225 views

Gimbal lock and zero jacobian determinant

I'm having a hard time visualizing the gimbal lock problem. Suppose $p=(a,b,c)$ is a point where the euler angle $f:\mathbb R^3\to SO_3$ has zero jacobian determinant. Then to say that $p$ is where ...
2
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310 views

4d rotations and quaternions

I have a question about 4d rotation: I programmed a little 4d game and I used the classical hyper-sphere coordinates, to rotate a vector. It works, but it has some problems :( (just for clarity I ...
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0answers
7 views

Find path between two attitudes subject to body rate constraints

Here's my problem. I have an initial orientation and angular velocity of a body and a final orientation and velocity occurring at a specified time in the future. I have control over how input ...
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0answers
36 views

Show that isotropic function S(A) and A have same eigenvectors

Given $\boldsymbol{A}$ is a positive definite, symmetric second order tensor and $\boldsymbol{Q}\boldsymbol{S}(\boldsymbol{A})\boldsymbol{Q}^T = \boldsymbol{S}(\boldsymbol{QAQ}^T)$ $\forall ...
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20 views

Eigenvalues of rotation invariant operators on 2-sphere

Work on $L^2(S^2)$, where $S^2$ is the 2-sphere. Suppose that I have an operator, $T$, that is rotation invariant. That is, $T$ commutes with $R$ for any rotation operator $R$. Suppose furthermore ...
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21 views

Find bounding box dimensions around rotated object

Consider the following rectangle with dimensions 320 by 130. After rotating the rectangle 10 degrees clockwise from the center (x: 160, y: 65), it looks like this. My question is: How do ...
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0answers
21 views

Rotate Object relative to other Object

I have an object (cube) which has two other objects attached to it (cones). If I rotate the cube along any axis, how do I determine the rotation of the cones (which emanate at a specific angle from ...
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31 views

Finding rotation matrix from angles between plane intersections and axes

I have a proper rotation transformation between coordinate axes $\{X, Y, Z\}$ and $\{X^\prime, Y^\prime, Z^\prime\}$. What I am given are three angles, all of which have vertex at the origin: Let ...
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33 views

Lie bracket as defining element for transformations

Why is it precisely the Lie bracket that encodes the information about a given transformation? A Lie algebra is defined by its commutator. Using the exponential map one ends up with a given ...
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0answers
44 views

Bivariate normal distribution; rotation; diagonal covariance matrix

Let $Z\sim N(0,\Sigma)$ with $$ \Sigma=\begin{pmatrix}\sigma_1^2 & p\sigma_1\sigma_2\\p\sigma_1\sigma_2 & \sigma_2^2\end{pmatrix} $$ whereat $\sigma_i^2=\text{var}(Z_i), ...
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59 views

composition of rotation matrices

We wish to construct a general rotation $\mathbf{R}$ of a coordinate system by composing three elementary rotations $\mathbf{R}_1, \mathbf{R}_2, \mathbf{R}_3$, so that a vector $\mathbf{v}$ is rotated ...
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Angular momentum, rotating cylinders,…

Revising, this is what I'm stuck on: inertia tensors, rotating rigid bodies about axis other than its axis of symmety,... I think it'd help a lot to see a worked example and I can't find anything on ...
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125 views

Transform a vector to global frame and ignore rotation about one axis or Full tilt compensated magnetometer

Good day everyone. I would like to lock the rotation about one specified axis. For example, let`s imagine that we have a quaternion which desribes the orientation of our rigid body relative to the ...
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0answers
18 views

Bundle Adjustment in the Large and Rodrigues' Rotation Formula

We use a pinhole camera model; the parameters we estimate for each camera area rotation R, a translation t, a focal length f and two radial distortion parameters k1 and k2. The formula for ...
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0answers
16 views

Rotationmatrix for coordinate system

this is my first question with regard to mathematics. So, if I made any mistake in terms of naming and/or convention, please let me know. I'm having a little problem with rotating a coordinate system ...
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39 views

How to find the axis of rotation needed to rotate a $ 3d$ vector to another $3d$ vector?

I have two vectors $(a,b,c)$ and $(d,e,f)$. How can I find the axis of rotation needed to rotate the first vector to be parallel to the other vector? Thanks
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0answers
43 views

If matrix $M$ represents rotation around the origin, how to represent rotation about another point in terms of $M$?

For homework from school I have to made some tasks. There are no lessons because it is a second change. my question is: Multiplication by matrix $M$ represents rotation around the origin. If we do ...
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21 views

Rotating two objects

I have two lines. Both created in this format: Line 1 $$line1 = \left\{ \begin{array}{c} startX, startY \\ endX, endY \end{array} \right\}$$ $$line2 = \left\{ \begin{array}{c} startX, startY \\ endX, ...
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124 views

Find the linear (vertical) acceleration using a three axis accelerometer.

I genuinely apologise for what may be a poorly worded question. I'm extremely tired but have a ridiculous huge and important project due in on Monday for my degree. Thank you in advance for any help ...
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0answers
121 views

How to determine yaw-pitch-roll orientation by specifying a plane via 3 points?

[Note, this question is an attempt at rephrasing the one posted here, as it has not garnered any attention, unfortunately] Hello, Let's say you have three points in 3D space: A, B and C. Together, ...
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0answers
178 views

Reverse rotation back to original coordinates (Euler Angles)

so in the program I'm trying to write (still, it's a mathematical question) I have a set of coordinates and angles (Euler angles) which represent the place and orientation of an object in space, ...
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122 views

Conversion from Spherical Coordinates to Cartesian Coordinates aligned along arbitrary polar axis

I have spherical coordinates $w = (\theta, \phi)$ such that $\theta$ is the angle between $w$ and the polar axis (let's assume $z$ is up). Assuming $w$ is a unit vector, the conversion to cartesian ...
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0answers
119 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 ...
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65 views

Writing a rotation as a product of translation and rotation about origin

In Artin's Algebra 2011 we have Lemma 6.3.5: "An isometry $f$ that has the form $m=t_a\rho_\theta$, with $\theta\neq 0$, is a rotation through the angle $\theta$ about a point in the plane." Earlier ...
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is there a polynomial-form minimal representation for SO(3)?

Is there a minimal local representation for $SO(3)$ such that if $(x_1,x_2,x_3)$ is the representation for some $R\in SO(3)$ then I can write the entries of the 3x3 rotation matrix for $R$ as a ...
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393 views

How is a the covariance matrix of a rotated dataset related its SVD and eigenvectors?

I understand how the covariance matrix can be used to find the orientation of a data cloud. For example, in 2-D, for zero mean data, the direction of the major axis of the cloud of data is given by ...
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90 views

non trivial rotation invariant subspaces of $\Bbb R^2$ and $\Bbb C^2$

i have two questions. First one is: am i correct in thinking that a line vector subspace of $\Bbb R^2$ is rotation invariant if $\theta = \pi$ or $2\pi$? Second, i am told that there is a non ...
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96 views

Simple formulas rotating Earth around xyz axes?

I define three axes on the Earth: the z axis goes from the center of the Earth to the North Pole the x axis goes from the center of the Earth to latitude 0 longitude 0 the y axis goes from the ...
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0answers
70 views

Determining pose of an object in 3d space

Given a 3D model of an object centred at the origin, if I place a camera at position (x,y,z) and make it face the origin, from the image rendered the object appears ...
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55 views

Proof that there are only two directions of rotation around an axis?

It seems self-evident that there are only two directions an object can rotate in around a linear axis (clockwise and counter-clockwise). But as math has taught me over the years, self-evident is not ...