Day 03

Spatial Descriptions

1/9/2012

Points and Vectors

point : a location in space

vector : magnitude (length) and direction between two points

p
v

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Coordinate Frames

choosing a frame (a point and two perpendicular vectors of

unit length) allows us to assign coordinates

4
p =
2.5
2
0
q =
1.5
0

y 0

{0}
3

o0

q0
x0

2
v = p q =
1
0

1/9/2012

Coordinate Frames

the coordinates change depending on the choice of frame

{1}

o1

y1

0.5
p =

0.5
1
q =
2
1

q1

x1

1
v = p q =
2
1

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Dot Product

the dot product of two vectors

u1
u
u = 2

un

v1
v
v = 2

vn

u v = u1v1 + u2v2 + + un vn = u T v
u v = u v cos

u cos
5

v
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Translation
y 0

o0

y1
x0

o1

{0}

x1

{1}

suppose we are given o1 expressed in {0}

3
o =
0
0
1

1/9/2012

Translation 1
y 0

y1
x0

o0

o1

{0}

x1

{1}

the location of {1} expressed in {0}

3 0 3
d = o o = =
0 0 0
0
1

0
1

0
0

1/9/2012

Translation 1
1.

the translation vector d ij can be interpreted as the location

of frame {j} expressed in frame {i}

1/9/2012

Translation 2
a point expressed
in frame {1}

y 0

y1
x0

o0

o1

{0}

1
p =
1
1

x1

{1}

p1 expressed in {0}

3 1 4
p =d + p = + =
0 1 1
0

0
1

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Translation 2
2.

10

the translation vector d ij can be interpreted as a coordinate

transformation of a point from frame {j} to frame {i}

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Translation 3
1
0
p =
1

y 0

2
q =
1
0

x0

o0

{0}

q0 expressed in {0}

3 1 2
q =d + p = + =
0 1 1
0

11

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Translation 3
3.

12

the translation vector d can be interpreted as an operator

that takes a point and moves it to a new point in the same
frame

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Rotation

suppose that frame {1} is rotated relative to frame {0}

y 0
y1
x1

o0 = o1

sin
x0

cos
13

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Rotation 1

the orientation of frame {1} expressed in {0}

y 0
y1
x1

o0 = o1

x1 x0
R =
x1 y0
0
1

14

x0
y1 x0
y1 y0
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Rotation 1
1.

15

the rotation matrix R ij can be interpreted as the orientation

of frame {j} expressed in frame {i}

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Rotation 2

p1 expressed in {0}

1
p =
1
1

y 0
y1

x1

o0 = o1

cos
p =R p =
sin
0

16

0
1

x0
sin 1
cos 1
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Rotation 2
2.

17

the rotation matrix R ij can be interpreted as a coordinate

transformation of a point from frame {j} to frame {i}

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Rotation 3

q0 expressed in {0}

y 0

q0
p

o0
cos
q =R p =
sin
0

18

x0
sin 1
cos 1
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Rotation 3
3.

19

the rotation matrix R can be interpreted as an operator

that takes a point and moves it to a new point in the same
frame

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Properties of Rotation Matrices

20

RT = R-1
the columns of R are mutually orthogonal
each column of R is a unit vector
det R = 1 (the determinant is equal to 1)

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Rotation and Translation

y1
x1

y 0
o1

o0

x0

{1}

{0}

21

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Rotations in 3D
x1 x0
R10 = x1 y0
x1 z0

22

y1 x0
y1 y0
y1 z0

z1 x0
z1 y0
z1 z0

1/9/2012