Graphics Reference
In-Depth Information
where
R
θ
=
z
e
12
R
θ
=
s
+
x
e
23
+
y
e
31
+
z
e
12
.
s
−
x
e
23
−
y
e
31
−
Extracting a rotor
If
b
aR
θ
=
R
θ
ˆ
then
+
b
+
b
1
a
ˆ
1
a
ˆ
R
θ
=
=
2
(
1
+
b
|ˆ
a
|
·
b
)
+ ˆ
a
a b
a b
1
+ ˆ
1
+ ˆ
R
†
θ
=
=
2
(
1
.
+
b
|ˆ
a
|
·
b
)
+ ˆ
a
