Documente Academic
Documente Profesional
Documente Cultură
Homogeneous Vector
Cartesian Vector
Homogeneous Vector
px px
p p
A
P y A
P y
pz pz
1 0
nx ox ax px
n oy ay p y
T y
nz oz az pz
0 0 0 1
v= T u
Translation with qx, qy, qz
DQ(q)=Trans(qx, qy, qz)
Rotational Transformation
Rotation about z-axis with an angle Ɵ , R(z, Ɵ )
cos sin 0 0
sin cos
0 0
R( z, )
0 0 1 0
0 0 0 1
Rotation about x-axis with an angle Ɵ , R(x, Ɵ )
1 0 0 0
0 cos sin
0
R ( x, )
0 sin cos 0
0 0 0 1
Rotation about y-axis with an angle Ɵ , R(y, Ɵ )
cos 0 sin 0
0 1 0
0
R( y, )
sin 0 cos 0
0 0 0 1
• The Homogeneous Transform - Four Definitions: