Spatial descriptions and

transformations
^
YA
YˆB P
tY  X̂ B
A
PBORG

O
tX X̂ A
 Position Description
Once a coordinate system is established, we can locate any
point in the space with a 3 x 1 position vector.

Ẑ A
 PX 
A
P
A
P   PY 
 PZ 

YˆA
X̂ A
Coordinate System A
1-2
 Orientation Description
Attach Frame B
• To describe the orientation of a
(Coordinate System
Ẑ B body in space, we will attach a
B)
Ẑ A coordinate system (frame B) to
the body and then give a
description of this coordinate
X̂ B A
P YˆB
system relative to the reference
o YˆA system (frame A).
At least three independent values (angles) are
Coordinate System A needed to describe the orientation of frame B
with respect to frame A.
X̂ A

The orientation of a rigid body

is represented with a rotation
A
matrix B R
1-3
 Description of a frame
A frame is a coordinate system where, in addition to the
orientation and a position vector which locates its origin
relative to some other embedding frame.

Ẑ B
• The description of a frame can Ẑ A
be thought of as a position
vector and a rotation matrix. X̂ B
A
PBORG YˆB
Position + orientation

{B}  { R, PBORG }
A
B
A
YˆA

X̂ A 1-4
 2D Rotation matrix Rotation around the Z-Axis
^
YA
Given: The location of point
YˆB
B
A
PY P P in coordinate frame B: B PX PY

X̂ B A A
B Determine: PX PY
PX

B
PY 
O A
PX X̂ A
A
PX  OP cos(   )  OP  cos  cos   sin  sin    B PX cos   B PY sin 
A
PY  OP sin(   )  OP sin  cos   sin  cos    B PX sin   B PY cos 
 A
PX  cos   sin  0   B PX 
 PX   cos   sin    PX  A
A B
A    
A    B  ; P   PY    sin  cos  0   B PY   BA R B P
 PY  sin   cos    PY   0   0 0 1   0 
 
1-5
 ^
2D Rotation matrix Rotation around the Z-Axis

YA
One way to describe the rotation
YˆB P
A
PY matrix, BA R
X̂ B , is to write the unit vectors of
B
PX frame {B} in terms of the

B
PY  coordinate frame {A}.
O A
PX X̂ A
  
 OP cos(    )    ^   B ^ ^ ^
 B ^ ^ ^ ^

 PX 
A
OP  X ( P X  B
P Y )  X P X  X  B
P Y  X
A    A
  X B Y B A
  X B A Y B A

 PY   OP sin(   )   OP Y   ( B P X  B P Y )  Y   B P X  Y  B P Y  Y 
 ^ ^ ^ ^ ^ ^ ^ ^

   A   X B Y B A   X B A Y B A 
 
 ^ ^ ^ ^
 B
X  X Y  X  P   ^ ^
  B
P   cos   sin    B
PX 
 ^ ^B A B A 
^  B
X

  B
A
X A
Y B B
X
   B 
 ^
 P     Y 
P sin   cos    PY 
 X B  YA YB  YA 

1-6
 3D-Rotation matrix
Orientation Description
Hence, each component of a matrix
rotation can be written as the dot product
of a pair of unit vectors: Ẑ A
A Ẑ B
P
A
B R   A Xˆ B YˆB
A A
Zˆ B 
X̂ B
 r11 r12 r13  YˆB
r31  Xˆ B  Zˆ A
  r21 r22 r23  r21  Xˆ B  YˆA
 r31 r32 r33  YˆA
r11  Xˆ B  Xˆ A
 Xˆ B  Xˆ A YˆB  Xˆ A Zˆ B  Xˆ A  X̂
  A
A
R   Xˆ  Yˆ Yˆ  Yˆ Zˆ B  YˆA 
B B A B A
 ˆ ˆ ˆ ˆ ˆ ˆ 
 X B  Z A YB  Z A Z B  Z A 
1-7
 3D-Rotation matrix
Directional Cosines

A
B R   A Xˆ B A
YˆB A
Zˆ B  Directional Cosines

 Xˆ B  Xˆ A YˆB  Xˆ A Zˆ B  Xˆ A 
B
X̂
T

 
A
ˆ ˆ YˆB  YˆA Zˆ B  YˆA 
B R   X B  YA
A

 ˆ ˆ ˆ  Zˆ ˆ ˆ 
 B A
X  Z Y B A Z B  Z A 

 B Xˆ AT 
B T B T
A
R   Yˆ    Xˆ B
YˆA B ˆ 
ZA   AR
B T
B A  A
Bˆ T
 Z A 
1-8
 Rotation matrix
 r11 r12 r13 
A
R  BA RT r r r   r r r
 21 22 23   1 2 3 
B A
B R 
A
B R BA R  I  BA R  BA R 1  r31 r32 r33 
r1  r2  r3  1
B
A RT  B
A R 1
r1  r2  r1  r3  r2  r3  0

• For matrix M,
A
B R 1

– If M-1 = MT , M is orthogonal matrix

A
– B R is orthogonal!!!

In linear algebra, an orthogonal matrix is a square matrix whose

columns and rows are orthogonal unit vectors

1-9
 Basic Rotation matrix
Rotation around the X-Axis by an angle 
1 0 0  These basic rotation matrices
 
cos -sin 
clearly satisfy the properties:
B R X ,  0
A

B R K ,0  I 3 ;
A

0 sin cos  A A

B R K , B R K ,  B R K ,(  ) ;
A

Rotation around the Y-Axis by an angle  [ BA R K , ]1  BA R K ,

 cos 0 sin 
A
B R Y ,   0 1 0 
 -sinq 0 cos 
Rotation around the Z-Axis by an angle 
 cos -sin 0 
A
R   sin cos 0 
B Z ,  
 0 0 1  1-10
 2D - Translations
PBORG  t X 0
A T
tY A
P  A PBORG  B P
^  A PX  t X   B PX 
YA YˆB P A    B 
A
P   PY    tY    PY 
tY A
PBORG O’  0   0   0 
   
X̂ B  A PX   B PX  t X 
A  B 
A
P   PY    PY  tY 
 0   0 
   
O
tX X̂ A

1-11
 Combine Rotation and Translation
^
YA YˆB P

tY A
PBORG
 X̂ B
PBORG  t X 0
A T
tY

O
tX X̂ A
A
P  R Z , P  PBORG
A
B
B A

 A PX  cos   sin  0   B PX  t X 
A    B   
A
P   PY    sin  cos  0   PY    tY 
 0   0 0 1   0   0 
 
1-12
 Combine Rotation and Translation
^
It consists 2 operations, a multiplication and a addition
P  BA R Z , B P  A PBORG
YA A
YˆB P
tY  X̂ B
cos   sin  0   B PX  t X 
 
P   sin  0   B PY    tY 
A
PBORG
A
cos 
O
 0 0 1   0   0 
tX X̂ A

Homogeneous Transformation for Mapping

 A PX  cos   sin  0 t X   B PX 
A    B 
 PY   sin  cos  0 tY   PY  A B
A
P   BT P
 0   0 0 1 0  0 
    
Homogeneous coordinates are a way
of representing N-dimensional
coordinates with N+1 numbers. To

 1   0 0 0 1   1  make 2D Homogeneous coordinates,

we simply add an additional variable,
w, into existing coordinates. Therefore,
a point in Cartesian coordinates, (X, Y)
becomes (x, y, w) in Homogeneous 1-13
coordinates.
 Homogeneous Transformation
Ẑ B B
Ẑ A P
A
P
A
P  A PBORG  BA R B P
YˆB
X̂ B
A
P  ABT B P
YˆA

X̂ A  A Px   A
PBORG _ x   B Px 
A   A A B 
 Py    B R PBORG _ y   Py 
 A Pz   A
PBORG _ z   B Pz 
    
 1  0 0 0 1   1 
A
B T 1-14
 Example
This figure shows a frame {B},
which is rotated relative to
frame {A} about axis XA by 90
degrees, translated 3 units in
YA, and translated 1 units in ZA
Find AP, where BP = [0 1 1]T

1 0 0 0  0   0 
 BA R 0 0 1 3 1   2 
A
PBorg  B
P T P  P   
A A B

1  1   2 
B
 0 1  0 1 0
    
0 0 0 1  1   1 

1-15
 Homogeneous Transformation
PBORG  t X tZ 
A T
Translation tY
Ẑ B
Zˆ A A
 A PX   B PX  t X  1 0 0 t X   B PX 
A  B      
B
PBORG 0 tY   B PY 
P
 PY   PY   tY  0 1
A
P A   
X̂ B A
P  PZ   B PZ   tZ  0 1 tZ   B PZ 
YˆB
0
        
 1   1   1  0 0 0 1   1 
 t X   B PX 
YˆA  I t B 
Y   PY 
A
P
Xˆ A  tZ   B PZ 
  
 0 0 0 1 
 1 

 A P A  B P  
   BT    I A
PBORG 
1  1  
BT 
A
 
 
0 0 0 1  1-16
 Homogeneous Transformation
B
Rotation  Px 
B
P   Py   Px X
ˆ PY ˆ ˆ
y B  Pz Z B
Zˆ A
B
Ẑ B B
P  Pz 
A
P  (P A X ˆ  P AY ˆ  P AZ ˆ )
YˆB
x B y B z B
B
 Px 
A ˆ
P  [ AX B
A ˆ
Y B Z B ]  Py 
A ˆ

 Pz 
YˆA A
P  BA R B P
Xˆ A  
X̂ B  A
R 0 

 P A  P BT 
A B A B

 
   BT    
1  1  0 0 0 1
1-17