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

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127 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 ...
4
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54 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 ...
4
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88 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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0answers
25 views

By or through for a rotation

"Rotated through pi rad" vs "Rotated by pi rad" I have heard both used and also heard mentioned that there was a mathematical difference between the two. Is this true or can they be used ...
3
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0answers
40 views

How to transform (rotate) this hyperbola?

Given this hyperbola $x_1^2-x_2^2=1$, how do I transform it into $y_1y_2=1$? When I factor the first equation I get $(x_1+x_2)(x_1-x_2)=1$, so I thought $y_1=(x_1+x_2)$ and $y_2=(x_1-x_2)$. ...
3
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0answers
72 views

Second derivatives of rotations

Given an exponential parameterization of a 3D rigid rotation $R\in SO(3)$ by the vector $v = (v_x, v_y, v_z)^T$ I would like to find its second derivatives at the point $v=(0,0,0)$. Using the ...
3
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0answers
34 views

Check if a point is inside a rotated 2D NACA 0012 airfoil

I've already checked the rotated rectangle problem but this is (I think!) a little more complicated. I have a CFD calculation of a 2D NACA 0012 airfoil and I need to test if a point is inside the ...
3
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51 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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77 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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119 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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34 views

Rotating a 3d-ellipse equation?

So I have very limited Linear Algebra knowledge, and I'm trying to program a computer graphics application in Android using OpenGL. I understand my design is not great, so if you have questions as to ...
2
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0answers
26 views

Identity component of SO(2,1)

I am working on Lie groups, and I have several difficulties to show that the identity component of SO(2,1) is the product of an euclidian rotation fixing a vector X and an hyperbolic rotation in a ...
2
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0answers
29 views

Decompose 3D rotation matrix into rotation around x, y and z-axis

I have a rotation matrix R, that produces an arbitrary rotation in a 3D space. I would like to decompose it into 3 rotation matrices Rx, Ry and Rz so I can use and apply only xy in plane rotation ...
2
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0answers
40 views

Free groups of rotations of the sphere

Is the following conjecture true: If $G$ is a group of rotations of the sphere and $G$ contains two noncommuting rotations of infinite order, then $G$ has a free subgroup of rank $2$. By the Tits ...
2
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0answers
61 views

Calculate new pitch and roll after rotating about the z axis

I am wanting to know how to find out the new pitch and roll values when rotating around a circle. I have become a little stuck on how to achieve this, but hopefully someone will be able to point me in ...
2
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0answers
28 views

Rotation about arbitrary point and arbitrary axis

This should be a simple problem, but I appear to not be able to get this correct. I have an object that is rotating in a circle on the $x$-$y$ plane (rotating in the $-z$ direction) at a speed ...
2
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0answers
80 views

Rotate a 3D Vector onto Another 3D Vector

I am trying to transform one triangle onto another triangle in 3D space (Right Triangles). My thought was I align the forward and left vectors, then translate the center of one to the other. ...
2
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0answers
33 views

Rate of convergence of an irrational rotation

Let $e^{i\phi}, e^{i\theta} \in \mathbb{S}^1$. Let $p(x) = x + 2k\pi$, where $k \in \mathbb{Z}$ is chosen so $p(x) \in [0, 2\pi)$. If we assume that $\phi/\pi$ is irrational, then there exists an ...
2
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355 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
52 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
102 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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76 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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0answers
160 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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0answers
295 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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95 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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0answers
250 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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387 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
15 views

Determine mutual location of two coordinate systems, given two sets of points

My problem is: we've got tracking device and a robot. Tracking device provides set of $n$ points in cartesian coordinates(taken from marker on robot arm) and robot driver returns position of TCP(tool ...
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0answers
52 views

How can I use the Bullet-Physics's ray-cast normal to calculate angles for a object to lay on a surface?

[Give the normal of a surface in XYZ format, how do I calculate rotations (also in XYZ format) needed to set an object parallel to the surface?] I have a collision library that uses the bullet ...
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0answers
18 views

Finding points inside of a box

I have a set of points in 3D that define a large, complex object. These points are rendered in OpenGL for an Android app that I am programming. In this app, the user translates the center of the box ...
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36 views

An equivalent definition of the rotation number of a circle homeomorphism

Let $f : \mathbb S^1 \to \mathbb S^1$ be an orientation-preserving homeomorphism. The classical definition of the rotation number is the following: we lift $f$ to a homeomorphism $F : \mathbb R \to ...
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14 views

How could the rotation of an avatars head and body be determined by a single input value?

In a virtual reallity environment I want to rotate a head according to the rotation value provided by the camera sensor of a head mounted display. When the head reaches the boundary of its maximum ...
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0answers
20 views

How to use 2D Translation and Rotational error to get offset value for new point?

Here I am trying to detect FIDUCIAL points on PCB in real time using camera. After googling for Two days and reading many post and blog. I found that I have to do something called translational error ...
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0answers
34 views

Transformation matrix for two rotations

If I am required to compute the full transformation matrix compromising of the following sequence of operations: rotation by $30$ degrees about $x$-axis translation by $1$, $-1$, $4$ in $x$, $y$ and ...
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0answers
43 views

rotation matrix - satellite control system

I am in charge with developping a satellie control system. There is something that I either understood incorrectly or either is wrong in the explanation. I am checking if I am able to get the values ...
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0answers
11 views

two rotations of line segment in different order

there are given are two rotations: $R_1$ and $R_2$, and a line segment $AB$. the image of $R_1R_2(AB)$ is a line segment that is parallel to the line segment $R_2R_1(AB)$. my kindly request is to the ...
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0answers
36 views

Using axis coordination to represent rotation matrix instead of angles

Euler angles give us clear matrix for conversion of a vector from car reference $Fr^C$ to earth reference $Fr^E$. If $\vec V$ is a vector in different frames it is represented differently: $$\vec ...
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27 views

Using Levi-civita symbol to determine axis and angle of rotation matrix

One of the questions on the course involves finding the angle and axis of this rotation matrix; $$R = \gamma\ \begin{pmatrix} 0 & -2 & 1\\ 2 & 0 & 0\\ -1 & 0 & 0 ...
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28 views

Calculate the plane angle from 2D plane

I am analysing a squared plane from a perfect cube. This plane is distorted by the perspective view of a camera. I would like to know ask please, some approaches of how could I get to know the ...
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132 views

Cabri 3D - Rotating a triangle

I'm given the exercise, in Cabri 3D, to rotate the triangle T around the axis AB and lead it via the triangle To to the triangle T'. I tried to rotate the triangle T around a fixed point and then ...
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55 views

Finding volume of solid using integration.

Find the volume of the solid obtained by rotating the region bounded by the curves: $y=x^8$ and $y=1$ about the line $y=6$. I tried to use the washer method but then I cannot find two volumes that I ...
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0answers
27 views

Is my interpretation of Rotation Matrices correct?

I've been asked to find the matrix which rotates vector $\vec{V}$ by angle $\alpha$ in the x-y plane. This I understand and I've constructed the matrix: $R_{\alpha}= \begin{bmatrix} cos\alpha & ...
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0answers
74 views

Decomposition of 4x4 or larger affine transformation matrix to individual variables per degree of freedom.

There are a couple of problems and solutions where affine matrices are decomposed into their seperate tranformations. However they are all for the 2D case and I`m finding it difficult to generalise it ...
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0answers
31 views

Why does $det(R) = +1$ imply right handed frame?

Let $R$ be a rotational matrix in $SO(3)$ so it satisfies $R^TR = I$ Solvng for $det(R^TR) = (det(R))^2 = 1$ yields two solutions Why does $det(R) = +1$ mean that the frame is a right handed frame? ...
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83 views

Finding eccentricity, directrix, foci of diagonal ellipse by rotating it

A problem I'm working on has the equation for a diagonal ellipse $$5x^2 + 5y^2 - 6xy - 8 = 0$$ which can be rotated 45 degrees to get the vertical ellipse $$\frac{x^2}{1}+\frac{y^2}{2^2} = 1$$ The ...
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59 views

Explaining Spin(3)

I’m going to discuss the action of Spin(3) on Euclidean vectors. This thing has several alternative names: “versors”/“rotation quaternions”, “quaternionic adjoint representation”, “quaternion action ...
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94 views

3D rotation by a complex angle around a complex axis.

Context In electromagnetism, it is common to meet complex angles. Snell's law can produce them (with metals and/or total internal reflection), and when we plug them into Fresnel's equations, the ...
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186 views

Quaternions: Rotation Matrix Derivative

Given Data and Specifications in Question If $q(t)$ represents the position vector as result of rotation with an angular velocity $\omega(t)$ in quaternions, then you can make the relationship ...
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0answers
67 views

Given a corner, draw a square of known size minimizing vertex distance to a point

I've been going a little crazy trying to solve this what I think is a simple problem. Given: A known corner ($\sim 90^\circ$) as defined by $\angle ABC$. Segment $AB$ is defined by two points on ...
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97 views

Quaternion Calculus

I was reading a note on Quaternion(Link) and I am happened to read a section regarding a solution of quaternion differential equation. I am putting that segment as picture format here for more ...