Notes on how to construct simple transformations between coordinate systems.
We have a coordinate system and another coordinate system
. To construct a transformation matrix allowing us to get coordinates,
which is expressed in coordinate system
expressed in coordinate system
a transformation matrix,
is required. This transformation matrix allow us to get
Lets say origo of coordinate system B in coordinate system A is {^A}O = [x1,y1,z1] and that the two coordinate system are otherwise aligned then the transformation matrix is:
If the systems are not aligned and instead B is rotated \pi radians around the y axis then the rotation matrix R^A_B is… It’s to cumbersome to create good-looking output… This post will end prematurely