Rotations and Orientation
Rotations and Orientation
Position and Orientation
The position of an object can be represented as a translation of the object from the origin
The orientation of an object can be represented as a rotation of an object from its original unrotated orientation.
Position
Cartesian coordinates (x,y,z) are an easy and natural means of representing a position in 3D space
...But there are many other representations such as spherical coordinates (r,,)
Spherical Coordinates Example
Orientation
Many ways to represent a rotation: ? 3x3 matrices ? Euler angles ? Rotation vectors (axis/angle) ? Quaternions
Why might multiple representations be useful?
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