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Lecture 3: Coordinate Systems and Transformations
Coordinate systems and frames Recall that a vector v 2 lR3 can be represented as a linear combination of three linearly independent basis vectors v1, v2, v3, v = 1v1 + 2v2 + 3v3: The scalars 1, 2, 3 are the coordinates of v. We typically choose v1 = (1;0;0), v2 = (0;1;0), v3 = (0;0;1) . v2 v1 v3 α1 v = α1v1 + α2v2 + α3v3 2
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