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

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5
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58 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 ...
5
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0answers
140 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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0answers
31 views

Get bounding rectangle segments of a rotated rectangle (matrix?)

My problem: I have: $x$, $y$ & $\alpha$ - the aspect ratio $o$:$p$ (red rectangle) I want to have $n$ & $m$ in dependancy of $x, y, \alpha, o, p$ I tried to figure it out with ...
4
votes
0answers
96 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
votes
0answers
27 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
53 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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224 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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47 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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0answers
80 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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0answers
80 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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124 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
votes
0answers
46 views

Standard Basis of $SU(2)$--where does the 1/2 come from?

The most common matrix representation of $SU(2)$ is given by $$ \begin{pmatrix} a & b\\ b^* & -a^*\\ \end{pmatrix} $$ where $a,b\in\mathbb{C}$. If we denote real components by the subscript ...
2
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0answers
23 views

Alternative to affine space

I've been reading up on affine geometry. An affine space (correct me if I'm wrong) is a set of "points" along with a set of translations on those points such that for any two points $P, Q$ there ...
2
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0answers
24 views

Rotors/Quaternions: double reflection question

I am trying to learn/understand quaternion. I found this reference (among many others): http://www.geometricalgebra.net/quaternions.html It states (see attached screenshot of that page), that to ...
2
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0answers
132 views

Wind vector transformation from Gaussian grid to displaced pole grid

I have been given the "u" and "v" component with respect to an earth coordinate reference system(Gaussian grid - https://en.wikipedia.org/wiki/Gaussian_grid ...
2
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0answers
147 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
38 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
469 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
51 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
126 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
70 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
113 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
103 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 ...
2
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0answers
38 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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0answers
524 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
65 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
374 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), ...
2
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0answers
131 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
80 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
172 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
352 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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0answers
99 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
257 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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0answers
400 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
6 views

To prove that a generator-candidate is sufficient to find all elements in $SO(3)$

I am attempting to prove that some sequential series of rotation axes $\mathbf{v}_1,\mathbf{v}_2,\ldots,\mathbf{v}_n\in\mathbb{R}^3$ is enough to generate all possible rotations when making a full ...
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0answers
25 views

Calculate Rotation and Translation Matrix to align elements of input matrix A to Target matrix B in 2d?

I have a matrix in 2D space; the matrix contains elements which I would like to translate into the center of the matrix. Then, I would like to rotate these elements (I mean the positions of the ...
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0answers
30 views

How to integrate 3D rotations (orientations)?

What is the 3D rotation equivalent of integrating (or a simpler version of the problem, simply evaluating or enumerating) all the values? For example in one dimension we have the possibility of an ...
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0answers
21 views

rotation of spherical surface in spherical coordinates

I need to plot a spherical surface in computer (like the surface of a lens). I know the normal vector (as an example, say $\ n=(1,2,3) $) of this surface and it originates from the centre of the ...
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0answers
38 views

Group of rotations of rational multiples of $\pi$

Consider the euclidean plane $\mathbb{R}^2$ and denote the rotation around the origin with angle $\theta$ by $$R_\theta:\mathbb{R}^2\rightarrow \mathbb{R}^2$$ Now consider a fixed angle $\theta_0\in ...
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0answers
28 views

How to get the rotation angle about a fixed direction when the object is rotating?

I have posted a question How can I get horizontal rotation angle whatever device orientation? Please see the origin post to get the image of the direction of x, y and z axis. pitch: a pitch is a ...
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0answers
23 views

rotate complex eigenvector

I'm computing the eigenvectors of a real non-symmetric Matrix. I know that complex eigenvectors would come in conjugate. However, does anybody know a algorithm to rotate such complex eigenvectors ...
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0answers
42 views

Geometric / Intuitive construction of the rotation axis of a 3D rotation matrix?

I have been looking without success for an intuitive / geometric construction of the rotation axis of a given 3D rotation matrix. To put the problem in more familiar terms, let's assume you have the ...
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0answers
45 views

How to get parallels of tilted Equator?

I have a Great Circle on Earth, which is not an Equator nor Meridian, and it's not parallel to these. I have four geographical coordinate pairs for it, separated by 90 degrees, so I can use these in ...
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0answers
25 views

Rotation matrices and angular velocity

Let us assume I have an object O with axis $x_{O}$, $y_{O}$, $z_{O}$, with different orientation from the global frame S with $x_{S}$, $y_{S}$, $z_{S}$ (I don't care about the position). Now I know ...
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0answers
33 views

Need help to rotate a 3D point around a line and find the coordinates

How do I solve this?: Rotate p=[2,1,3] 60 degrees anti-clockwise around the line from a=[1,-1,1] to b=[3,-3,3]. What is the coordinates of p'? The first thing I've to do is to find vector AB and ...
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0answers
32 views

Decomposing a matrix as the product of rotations

I'm reading an article about joint diagonalization algorithms. The article states without proof that any nonsingular $n \times n$ matrix $Q$ can be decomposed as \begin{align*} Q = \prod_{1 \leq p ...
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0answers
25 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
124 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
31 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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0answers
18 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 ...