Lecture 3: Coordinate Systems and Transformations
A frame is a richer coordinate system in which we have a reference point P0 in addition to three linearly independent basis vectors v1, v2, v3, and we represent vectors v and points P, di erently, as v = 1v1 + 2v2 + 3v3; P = P0 + 1v1 + 2v2 + 3v3: We can use vector and matrix notation and re-express the vector v and point P as v = ( 1 2 3 0) 0 B ...
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