Appendix 04C
Rotation Matrix
Compiled & developed by
Saptomo H Mertotaroeno, Ir., M.Sc.
saptomo@gd.itb.ac.id
Contents
3-D Rotation
The Development of the Rotation
Formulas
The (3-D) Rotation Matrix M
A Pure Algebraic Derivation of M
Numerical Example of a Rotation
Matrix
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xyz).
(axis
rotation)
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The
rotation
equations
are
developed
in
a
Analytical Photogrammetry (1B),
3
SHM
sequence of three
The three
angular rotations Third,
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rotation
about
the
twicerotated z2 axis which4
Rotating a
Cartesian
system about
each axis
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Skipped
In matrix form :
0
0 x
x1 1
y 0 cos sin y
1
z1 0 sin cos z
x1
M
x
In matrix form :
x2 cos 0 sin x1
y 0
y
1
0
2
1
z2 sin 0 cos z1
x2
M
x1
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In matrix form :
x cos
y sin
z 0
sin
cos
0
M
0
0
1
x2
y
2
z2
x2
8
where
x M x2 ; x2 M x1 ; x1 M x
x M M M x
x Mx
x m11 m12 m13 x
y m m m y
22
23
21
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10
A Purely Algebraic
Derivation of M
Thefollowing
skew- symmetric
matrixcontains
onlythreeparameters
, a, b, andc:
0 c b
S c
0 a
b a
0
Anorthogonal
matrixM canbeobtained
fromSusing:
M (I S)(I S)1 (I S)1(I S)
inwhichI istheidentity
matrix.
It canbeprovedthatM isorthogonal
,bysimplyshowing
thatMTM I.
M (I S)1(I S)
1 a2 b2 c2
2ab 2c
2ac 2b
1
2ab 2c
1 a2 b2 c2
2bc 2a
2
2
2
1 a b c
2ac 2b
2bc 2a
1 a2 b2 c2
Advantage
:noneedtobotheraboutthesequence
ofrotations,
and
lesscumbersome
tolinearize.
Disadvanta
ge: theparameters
havenogeometric
interpreta
tion.
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12
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13
End of
Appendix 03C
Rotation Matrix
Compiled & developed by
Saptomo H Mertotaroeno, Ir., M.Sc.
saptomo@gd.itb.ac.id