Graphics Reference
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B.5 R 1
γ,x R 1
β,z R 1
α,y
1
0
0
c β
s β
0
c α
0
s α
R 1
γ,x R 1
β,z R 1
α,y =
0
c γ
s γ
s β c β 0
001
01
0
0
s γ
c γ
s α
0
c α
c β c α
s β
c β s α
=
(s γ s α c γ s β c α )
γ c β
(s γ c α + c γ s β s α )
(c γ s α + s γ s β c α )
s γ c β
(c γ c α s γ s β s α )
01
0
R 1
90 ° ,x R 1
90 ° ,z R 1
90 ° ,y =
10
0
00
1
01
0
00001111
00110011
01010101
10
0
00
1
00110011
00001111
0
.
=
10
10
10
1
This rotation sequence is illustrated in Fig. B.4 (a)-(d), where the axis of rotation
T
is
[
220
]
and the angle of rotation 180°.
Four views of the frame before and during the three rotations R 1
90 ° ,x R 1
90 ° ,z R 1
Fig. B.4
90 ° ,y
 
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