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Quaternions And Spatial Rotation
Unit quaternions, known as ''versors'', provide a convenient mathematical notation for representing spatial orientations and rotations of elements in three dimensional space. Specifically, they encode information about an axis-angle rotation about an arbitrary axis. Rotation and orientation quaternions have applications in computer graphics, Presented at SIGGRAPH '85. computer vision, robotics, navigation, molecular dynamics, flight dynamics, orbital mechanics of satellites, and crystallographic texture analysis. When used to represent rotation, unit quaternions are also called rotation quaternions as they represent the 3D rotation group. When used to represent an orientation (rotation relative to a reference coordinate system), they are called orientation quaternions or attitude quaternions. A spatial rotation around a fixed point of \theta radians about a unit axis (X,Y,Z) that denotes the ''Euler axis'' is given by the quaternion (C, X \, S, Y \, S, Z \, S), where C = \cos(\ ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Unit Vector
In mathematics, a unit vector in a normed vector space is a vector (often a spatial vector) of length 1. A unit vector is often denoted by a lowercase letter with a circumflex, or "hat", as in \hat (pronounced "v-hat"). The term ''direction vector'', commonly denoted as d, is used to describe a unit vector being used to represent spatial direction and relative direction. 2D spatial directions are numerically equivalent to points on the unit circle and spatial directions in 3D are equivalent to a point on the unit sphere. The normalized vector û of a non-zero vector u is the unit vector in the direction of u, i.e., :\mathbf = \frac where , u, is the norm (or length) of u. The term ''normalized vector'' is sometimes used as a synonym for ''unit vector''. Unit vectors are often chosen to form the basis of a vector space, and every vector in the space may be written as a linear combination of unit vectors. Orthogonal coordinates Cartesian coordinates Unit vectors may be us ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Princeton University Press
Princeton University Press is an independent publisher with close connections to Princeton University. Its mission is to disseminate scholarship within academia and society at large. The press was founded by Whitney Darrow, with the financial support of Charles Scribner, as a printing press to serve the Princeton community in 1905. Its distinctive building was constructed in 1911 on William Street in Princeton. Its first book was a new 1912 edition of John Witherspoon's ''Lectures on Moral Philosophy.'' History Princeton University Press was founded in 1905 by a recent Princeton graduate, Whitney Darrow, with financial support from another Princetonian, Charles Scribner II. Darrow and Scribner purchased the equipment and assumed the operations of two already existing local publishers, that of the ''Princeton Alumni Weekly'' and the Princeton Press. The new press printed both local newspapers, university documents, ''The Daily Princetonian'', and later added book publishing to it ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Scalar (mathematics)
A scalar is an element of a field which is used to define a ''vector space''. In linear algebra, real numbers or generally elements of a field are called scalars and relate to vectors in an associated vector space through the operation of scalar multiplication (defined in the vector space), in which a vector can be multiplied by a scalar in the defined way to produce another vector. Generally speaking, a vector space may be defined by using any field instead of real numbers (such as complex numbers). Then scalars of that vector space will be elements of the associated field (such as complex numbers). A scalar product operation – not to be confused with scalar multiplication – may be defined on a vector space, allowing two vectors to be multiplied in the defined way to produce a scalar. A vector space equipped with a scalar product is called an inner product space. A quantity described by multiple scalars, such as having both direction and magnitude, is called a '' ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Vector (mathematics And Physics)
In mathematics and physics, vector is a term that refers colloquially to some quantities that cannot be expressed by a single number (a scalar), or to elements of some vector spaces. Historically, vectors were introduced in geometry and physics (typically in mechanics) for quantities that have both a magnitude and a direction, such as displacements, forces and velocity. Such quantities are represented by geometric vectors in the same way as distances, masses and time are represented by real numbers. The term ''vector'' is also used, in some contexts, for tuples, which are finite sequences of numbers of a fixed length. Both geometric vectors and tuples can be added and scaled, and these vector operations led to the concept of a vector space, which is a set equipped with a vector addition and a scalar multiplication that satisfy some axioms generalizing the main properties of operations on the above sorts of vectors. A vector space formed by geometric vectors is called a Euclidean ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Euler's Rotation Theorem
In geometry, Euler's rotation theorem states that, in three-dimensional space, any displacement of a rigid body such that a point on the rigid body remains fixed, is equivalent to a single rotation about some axis that runs through the fixed point. It also means that the composition of two rotations is also a rotation. Therefore the set of rotations has a group structure, known as a ''rotation group''. The theorem is named after Leonhard Euler, who proved it in 1775 by means of spherical geometry. The axis of rotation is known as an Euler axis, typically represented by a unit vector . Its product by the rotation angle is known as an axis-angle vector. The extension of the theorem to kinematics yields the concept of instant axis of rotation, a line of fixed points. In linear algebra terms, the theorem states that, in 3D space, any two Cartesian coordinate systems with a common origin are related by a rotation about some fixed axis. This also means that the product of two rot ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Euler AxisAngle
Leonhard Euler ( , ; 15 April 170718 September 1783) was a Swiss mathematician, physicist, astronomer, geographer, logician and engineer who founded the studies of graph theory and topology and made pioneering and influential discoveries in many other branches of mathematics such as analytic number theory, complex analysis, and infinitesimal calculus. He introduced much of modern mathematical terminology and notation, including the notion of a mathematical function. He is also known for his work in mechanics, fluid dynamics, optics, astronomy and music theory. Euler is held to be one of the greatest mathematicians in history and the greatest of the 18th century. A statement attributed to Pierre-Simon Laplace expresses Euler's influence on mathematics: "Read Euler, read Euler, he is the master of us all." Carl Friedrich Gauss remarked: "The study of Euler's works will remain the best school for the different fields of mathematics, and nothing else can replace it." Euler is also ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Radian
The radian, denoted by the symbol rad, is the unit of angle in the International System of Units (SI) and is the standard unit of angular measure used in many areas of mathematics. The unit was formerly an SI supplementary unit (before that category was abolished in 1995). The radian is defined in the SI as being a dimensionless unit, with 1 rad = 1. Its symbol is accordingly often omitted, especially in mathematical writing. Definition One radian is defined as the angle subtended from the center of a circle which intercepts an arc equal in length to the radius of the circle. More generally, the magnitude in radians of a subtended angle is equal to the ratio of the arc length to the radius of the circle; that is, \theta = \frac, where is the subtended angle in radians, is arc length, and is radius. A right angle is exactly \frac radians. The rotation angle (360°) corresponding to one complete revolution is the length of the circumference divided by the radius, which i ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Sine
In mathematics, sine and cosine are trigonometric functions of an angle. The sine and cosine of an acute angle are defined in the context of a right triangle: for the specified angle, its sine is the ratio of the length of the side that is opposite that angle to the length of the longest side of the triangle (the hypotenuse), and the cosine is the ratio of the length of the adjacent leg to that of the hypotenuse. For an angle \theta, the sine and cosine functions are denoted simply as \sin \theta and \cos \theta. More generally, the definitions of sine and cosine can be extended to any real value in terms of the lengths of certain line segments in a unit circle. More modern definitions express the sine and cosine as infinite series, or as the solutions of certain differential equations, allowing their extension to arbitrary positive and negative values and even to complex numbers. The sine and cosine functions are commonly used to model periodic phenomena such as sound and lig ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Periodic Function
A periodic function is a function that repeats its values at regular intervals. For example, the trigonometric functions, which repeat at intervals of 2\pi radians, are periodic functions. Periodic functions are used throughout science to describe oscillations, waves, and other phenomena that exhibit periodicity. Any function that is not periodic is called aperiodic. Definition A function is said to be periodic if, for some nonzero constant , it is the case that :f(x+P) = f(x) for all values of in the domain. A nonzero constant for which this is the case is called a period of the function. If there exists a least positive constant with this property, it is called the fundamental period (also primitive period, basic period, or prime period.) Often, "the" period of a function is used to mean its fundamental period. A function with period will repeat on intervals of length , and these intervals are sometimes also referred to as periods of the function. Geometrically, a ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Function Composition
In mathematics, function composition is an operation that takes two functions and , and produces a function such that . In this operation, the function is applied to the result of applying the function to . That is, the functions and are composed to yield a function that maps in domain to in codomain . Intuitively, if is a function of , and is a function of , then is a function of . The resulting ''composite'' function is denoted , defined by for all in . The notation is read as " of ", " after ", " circle ", " round ", " about ", " composed with ", " following ", " then ", or " on ", or "the composition of and ". Intuitively, composing functions is a chaining process in which the output of function feeds the input of function . The composition of functions is a special case of the composition of relations, sometimes also denoted by \circ. As a result, all properties of composition of relations are true of composition of functions, such as the ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Euler Angles
The Euler angles are three angles introduced by Leonhard Euler to describe the Orientation (geometry), orientation of a rigid body with respect to a fixed coordinate system.Novi Commentarii academiae scientiarum Petropolitanae 20, 1776, pp. 189–207 (E478PDF/ref> They can also represent the orientation of a mobile frame of reference in physics or the orientation of a general Basis (linear algebra), basis in 3-dimensional linear algebra. Alternative forms were later introduced by Peter Guthrie Tait and George H. Bryan intended for use in aeronautics and engineering. Chained rotations equivalence Euler angles can be defined by elemental geometry or by composition of rotations. The geometrical definition demonstrates that three composed ''elemental rotations'' (rotations about the axes of a coordinate system) are always sufficient to reach any target frame. The three elemental rotations may be #Conventions by extrinsic rotations, extrinsic (rotations about the axes ''xyz'' of t ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Numerically Stable
In the mathematical subfield of numerical analysis, numerical stability is a generally desirable property of numerical algorithms. The precise definition of stability depends on the context. One is numerical linear algebra and the other is algorithms for solving ordinary and partial differential equations by discrete approximation. In numerical linear algebra, the principal concern is instabilities caused by proximity to singularities of various kinds, such as very small or nearly colliding eigenvalues. On the other hand, in numerical algorithms for differential equations the concern is the growth of round-off errors and/or small fluctuations in initial data which might cause a large deviation of final answer from the exact solution. Some numerical algorithms may damp out the small fluctuations (errors) in the input data; others might magnify such errors. Calculations that can be proven not to magnify approximation errors are called ''numerically stable''. One of the common task ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
