Direction Cosine Matrix
In geometry, various formalisms exist to express a rotation in three dimensions as a mathematical transformation. In physics, this concept is applied to classical mechanics where rotational (or angular) kinematics is the science of quantitative description of a purely rotational motion. The orientation of an object at a given instant is described with the same tools, as it is defined as an imaginary rotation from a reference placement in space, rather than an actually observed rotation from a previous placement in space. According to Euler's rotation theorem the rotation of a rigid body (or three-dimensional coordinate system with the fixed origin) is described by a single rotation about some axis. Such a rotation may be uniquely described by a minimum of three real parameters. However, for various reasons, there are several ways to represent it. Many of these representations use more than the necessary minimum of three parameters, although each of them still has only three degre ...
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Geometry
Geometry (; ) is, with arithmetic, one of the oldest branches of mathematics. It is concerned with properties of space such as the distance, shape, size, and relative position of figures. A mathematician who works in the field of geometry is called a '' geometer''. Until the 19th century, geometry was almost exclusively devoted to Euclidean geometry, which includes the notions of point, line, plane, distance, angle, surface, an