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    Rotation matrix - Wikipedia

    • In linear algebra, a rotation matrix is a transformation matrix that is used to perform a rotation in Euclidean space. For example, using the convention below, the matrix rotates points in the xy plane counterclockwise through an angle θ about the origin of a two-dimensional Cartesian coordinate system. To perform the rotation on a plane point with standard coordinate… 展开

    In two dimensions

    In two dimensions, the standard rotation matrix has the following form:
    This rotates column vectors by means of the following matrix multiplication,
    Thus, the new coordinates (x′, y′) of a point (x, y) after rotatio… 展开

    In three dimensions

    A basic 3D rotation (also called elemental rotation) is a rotation about one of the axes of a coordinate system. The following three basic rotation matrices rotate vectors by an angle θ about the x-, y-, or z-axis, in three dimensions, usin… 展开

    Properties

    For any n-dimensional rotation matrix R acting on
    (The rotation is an orthogonal matrix)
    It follows that:
    A rotation is termed proper if det R = 1, and improper (or … 展开

    Geometry

    In Euclidean geometry, a rotation is an example of an isometry, a transformation that moves points without changing the distances between them. Rotations are distinguished from other isometries by two additional proper… 展开