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几何变换(一)


1. 线性变换

1.1 定义

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3. 旋转变换

以右手坐标系为例

3.1 正方向约定

描述一个旋转角度时,一般约定沿着坐标轴负方向向原点看,逆时针为正方向

3.2 围绕标准轴旋转

3.2.1 结果

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3.4 四元数

3.4.1 复数

复数(Complex Number)可以表达为

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