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Three-Dimensional Rotation Matrices

Three-Dimensional Rotation Matrices

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real orthogonal n ×n matrix with detR = 1 is called a special orthogonal matrix and provides a matrix representation of a n-dimensional proper rotation1 (i.e. no mirrors required!). The most general three-dimensional rotation matrix represents a counterclockwise rotation by an angle θ about a fixed axis that lies along the unit vector ˆn.

  Proper, Orthogonal

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