22 Linear Transformations “Te pel een sce prea ae of + octr apace Ivecr mace lato eled eur tt aoc gra es ‘Towa th bat, secs wil be Sted by bce tmerne cate, ‘ts ae sol at must eeprom wll be eased by bee | skis ded oper heel fl tata bee lesen oi (Pind sto else Halon we suri the le ane above (Te su fw and, deed by Fe an let of Y ant (ay Vea tc sale orev, which, wna ade to tayotercemet fas eneunged s.¥ 8 (i) Tiroen etndin Discrete inet + Os) = tH =H ‘ch when added, pede eer ses w= 8 Marve (0) Toepodctay ca shan lee Varn Vo ad eye thn ptntn soe ie af) = (0S (0) Maite rath ney (8) The predated in 0) are te seme al (+ = Gr Tpranaiblain Aah ses ed et he ls ne dl nh Binet pcs conser eo dant awe wl cnn wah mie Tecan aimen a ‘Neer omfomatn pened a a apeator Ty er pce na aster spice ach tgs ee era eon trot reper a= Lm ws endore wh popete 10 Pomoreei: Le) (3 adap Lia) Chapter 2 ‘Mathematical Background 24 Preamble oxo ats dg yh ean ne a com of cn, ne pag gh he mine oe “he mont pat Kd af istngy mtn unin a Ho aan Poiana be sed sinply Wie a of tease vet Ses erga oats ee the oe of ose, ees "Tonka spared eo tert coco i meth ont ange vpn seconde np icc pm ae ‘time sa eta lee compte ace adage wil eps et ‘naan te rw enependet ofhow we cote ata: The ‘eve sp to gis whose eon es fre atoocon of tas i a ing bw i guy nd et Sty outed ray ate led macs By sb fermi. wi ‘ser oth nes ht yw aes, lung hei a mde ‘Seal eae ileees ced SE asagt Sina ah ay an ma oan op ney nem he Lay stunts a) age fee a1) “ faesing ay she led mari preset of Lwth rept ip und BW an on neat ene Detntn 221. The jh cs fe matinee of Lh pet fhebuvr By a By compat tn eee te epson “estan nsedced in (210) became fr tes sort sce mei More uh oe ac a ce, ‘tle to reps ein ati fon a aE bracket wi Ibs andon perc aly (ba Mevove we wiles eos he ‘Sm an ean ca ne te Se Gite ems ne deta ncn ewes oF ‘Ceraapac vector Caen vay fr eyes, nee ‘esmesoal etMoreser if te apr veld yl eco ace oe rdiensonl veo ace anita at eat) =0) an Fem 25) tn ppt ht preston ered yaa BE Tne py param aon or oY Spaoceme apen aeeiy engage ang to cr eit Sages iced Any ogee main cheat wl ered snetwe camps eng doe Boman eter The ome nese a0 n= ey ew) "ate cemnpe at none T hr oer oace Vi oof ery deen veces wich any eee el Vet ner te sles of te ee lls fhe Sl on which eed ey teal ura he ee st an Te abe oes Sear eo he eo elec a epee gen ect fay B= ot eniy aay (A i eed in emf compen a 2 tens hen tt clan Agen by ee capone oe Ww =le Iwi= 59 ddepocdan eof any gunet suger nbn @ eng Hee wenn ar v= oP ain vent em ine Xa ln in S22 8h 33 ety mari ann, 2.189 ‘ats at Osssahogonamare Sloe eT and eee tomatic Talore], Fa fevw] a1) ah etd ie of Bg aoc cyan mutch cone gas cn ‘Sodan farted Mon hk beoucas pie n=) Thy, epee he mag fad andes RF ae JG 23, Rigid-Body Rotations ETE eanee math coli i wi Ta es am Now te beta Q arate wih eigen Tha oe ‘Wat (2.20 ce ema ese bee ‘Tere 252 Esler 176. A pd by mtn ao pt lee fed Zherof psn tt Ine tha pate dough Oa par he ‘igometr eof Qed th te ena 4 Tororo 2.33 (Cayo, Let Fb hati pom of | Pa) = deh) 3 a shia am Th A a charceie egation AE back o beh sa 0) a3 Prof Se Kaye od Wien (198 Powersef ALA. A" Ana nei fs) fell “toga mae Q ean rept te exons kewsyranetie saa seced shea err ef eigen seed reor em Now fr iy tan 250 shld al wih he ore deur) = deur) ao sy we 0 (220 we conc a ae) = Terre, Qe prope hepa mar it repent. Now we ‘heer 3:1, The sirmlas of proper room mars oh Cee coneed he inne come pave Prof La Be ot he igen and comeszonding in eae am In gee. ot expec be yee od ens cee caer ea COG = Ree ex ones. @ es Hen sed eh and ence, Q” sce fe QP Greging Oe Tiere eas 1 Qi cntagoa by trop, dc, toby 9219, which ane Sat 2s) mceer |hea tay 2.3. Now Bob. de) = UF and Haba) ‘iin te srrepedc any more, fcr Ll on be en ‘ome fe C8) spent nd eae A= [alcemie) lal = crm feoj wfeyemij ms VoL Tatars Ge nd ah = ‘Sdhence fo LADY slabs k= lal A imey—ayhmm)=0 3 2+ 1Pa BU-BIU=BIG=B)=0 > =m LOHAAUsHal) =o BEA 0, WHE) Oy ERC Hl ion (he ses of pone Bebe 9) EMT “Teer 3.4, Te corp mars hf ay ted rer A cmb maby rove be Ao oat al eww with) denn he Bae em oft vec wade ‘arp 212. Let 9 rary edimeninl vet nA ee udu snix Parte, tb = 1 A, ened ar eb mate (0 proves figcecte ofA Lito (ff Bebe ena (Be Ancaa, Bap Fa Lae kta eatin 3 EA eae, F128 But in gt in ton ft sed ft sove ages eto Byte, FaLa8wih DP being sting bate mal compen af p with sept 6 at Beane 240, sod DP given OP aexpe ke aa, Sebo of Be (24) ad (245) Bg (2.40 eto DP cong —ee"Ip # singe (24) 240 re abated et (2.4), P=a'p+cos mln + nde aan Ble Fconpthee) Fang aah ‘sion eaten Q soe se Qe beg ee) Hang an Areca arte wbee $= 5 Qatar as vase it pelt Q is mm if 4 — 1, OF cote, @ bere Ip al'rhn 60-bit eins ending to @ = 2 Syme any acetyl ohh cst pare oa nee epeaetiing of inne ook 9 sc pnio, Leet ted ie oe cong tn Qi stun ote ape ‘tren eal Tun sees epee Qin tems 9 0) = a0 +0094 Lor + BOM ash M28 elaine rer eer) 2.42. The Rotation Matrix ‘which sages ta a talc eprestsiaion of Q is ems of is egenectar © fhe retain under sud, whch notang bu the angle of raion. Farber, ine enone Baler’? Theva ser ce ase wonon oe tn ein Fig. 13 of ange ane v=08 OF any ce TB the a eo Bes sune, OG= ep em DP oe) BF esng) FF aayveoB} mS] 4) ale [isects cases oad coe Lenin ede out anes an ota Y an Za [iz] es we SY The presets of ye (2S) can be calle XY and Zann ‘tbe poration of roatons by means of Euler angler, conssing of ve secre nd srt aca ne Ban 233 The Linear Invariants of 3% 3 Matrix Asa) Ayedanay as be ype) ta rhe dere 0 wept Nom Ihde) asp ror ass) 1h dened aeaty we cone rode mas EGS), Q)embecpmes Meco fom es 251) yt ae overt dee sting be epee fe myn ex ht erate Te * om cote) ew 14 | (ute dae) Deocipasissag Webi a enon sprain fe Qa ting (koa esNow compat te it xenon wih oats poet! Bm) Baader = Ofea-ilye as a {he vero am i eed on fr} ues he een be aed crn (may ma (ean-a7]e—wa asm sien ‘roe ‘Caveat a componente prof ofthe above elation is 234. The Linear Invariants of «Rotation cet eae ara cong me) asyamee st vestQ) = wet 1) =A as sxQ) = ale fea e) congo) ato 2eug 288) Team 5, They of mari fad on fe sect) ~ ow ea aaty ean owt Let ent vet), Fn Dron 3) "ata esEom epetiion (2 9) ed 035, niente epee 16, ge ASS 2.0, eee peng (29) ena a8) ‘rome (275) 26278) app arian a ot ale iton vaph amg bun agen by veces ees aon Ssh neat ets gS ena Facts we willchore eng al be compos feta tating ‘sequent stig ho © 9 Tang clea a we ‘pinned 89 (2 70) Obs esa qari, ed 235 Bxamplee Brompie255. ley = (53. V5), VI/S] a pen cent ane F dg = Lr wows a? ‘rm hich ecm ey see fr agra, X@ cong scion ews of @ wil be dened by ad comma in gs cme ey fad Mons oe a) ‘ara of ttn mar Hence tnt ly tied four ‘rae parr tay (Qh. wach wil be ema ard ne fa dalam” am ate home ath far coun of a tinder cey InP +g amp sere = an ‘oa. 3g. 272 canbe wenn are compat ras Diag tetaitgat em se 20) a harm eamee tpen A ay Spee cate a he gf te sl pre Almay, ene encode sisi pe cede aga fe spe ene pe 18g .(272) ters of he ering conpanens ately | online’ aw ‘his eet a gd ier Dense sige ambigty a 273) gig anced ogo esting bt ong. Maeve th te empontt a sects qulone see dont ae tee he uaa peed Inde receding ane ae sind Ia emavang er) ‘tm which lett ne dot nt set ee hereto sder ice ier @ nd, nde the ea of he ion asagt ‘pp smut inary inte raaee a Theme ht eon ma Sites Ba ate weapon of no gers em, tod Pienaar expen te Setunnaty, e hat bee, ‘tir epae why Ge Hew trata can ene by wed eee “Tn bteen he riven nth Ee-Reg pees seen be reuy Ste sey natf ER ok oes em arto steht = ten Hower nny 27) sn orm 279) pode Berg roree neo am) ‘Aves offre ope ot of» sue mating br pare ‘Soe ean ona fncon e's age mat ane in oman Wi ‘es 253 i aan pin oes st ne (Cheyaitn Prem Tare 25) esd gee ol ald be fr $5 mans ear combo of teeny i, mat al od ‘orden te geome mang aon ugh te age ‘Mirugs rangi 29 Bye son ken esque ooo er een a ‘gansta ati shut the uae ai aug an age 2 Nom walle be gua ai ely ae tot Tar et pr ‘Sieh ne sage es ‘Seemate toning a Qin art selina desig eo Snutene Since Q arctan ma, the ruc P= QP told eq he SiS nd ct) shsb 4 Te eegig peices “ ny [pe eine ssa) aa peeing el oa eg te ich abe aly ws prc de) = #1 236 The Buler-Rodriques Parameters (Cou) peopore arty shuld calle reps ee a and Th Bere am ‘on caseiy som ta ke gt sine arm ems the Bale Rossa prt =e eon ae +2 am neh Rs tes adr ma fe HexnOn sco of 20y Boe men 25 Coordinate Transformations and Homogeneous Coordinates by ncn fom fam aid oh [Sika ecesing oon Des ang nin intern in a cape, 25.1 Coordinate Transformations Between Frames ‘with a Common Origin BUX. YZ} Moreover et Qbe te roto eating A mia Bie ease arn colt poston veer fs pae Pt ain 5 dense [la [pl ass) Pengo te ret OR, tn we can vey choose the anit nema mf the ne. st tat ecompton ai Qa te! T= 1-29 ‘ample 241 In he pat of Jour to Made me postan add by Shem The set ete le ah hand ht we wl ale an pane Sain: Le spat th dese nsormain Tah ped of eon QbyapceceteceonR nt tom T= QR Toa he anemic ees Seta ae ‘rived edly omg) dhe shove ca, en, o=ereh +04Pr ate wit 80 0 l4=(Qlalel ase [ele Dole a) pen sabe (289) 28. ean [ra =[0Labne a9 ‘Theorem 25.2. The repeating of crying A iB hese fame (Qs [le an Pron pen sb 2.8 Ha (2 wee [pbs =(01s(0p le [Ole = 1eLsaete ow, see bogs ln nd ene [acne elated on Ile (@isinle asm woe by vine of There 25 ete ites ofp cher he pla =[@lalole aon hetero Seng proved open gunn te gin es of 292 Saee ‘Went tof inte tLe an. hence since 2 oetedin ig ow rane neg res Q shel en @ ow tang rt gang ten, ads, ele [: ru] as [rla=[0labele on1a [ag von Apart, eae of [Qa teres ra hn of QL ae fd o DTIED-L Now. tom ed ae = 0, hye 252. Coordinate Transformation with Origin Shift 1 Lele = 10" eles ase) oof rt nel ogg es epretetstions a Qseng 4 u Bn eset fans ad sow ha ey ae ‘eat Mowat pla = 4.1 (ple spect! unit vets 1 and eae Geiedikewize spa the a “easy252.1 [bla = [-to-L -t]? snd A aod 8 See the relive ren Ble 25 fn ie pssica vce Ba pF Stpeatonecur[pLa pve sine ane eagle ‘ened tes [Qs wich an bee dered om [Qn We ent ave ht matin btn ve (@° Le wat stl oo oy wa of BRIEF] 253 Homogeneous Coordinates dir ot oy pat the fourdimeasonal ray (Pine dened a ° omen [MP] am Dacinifemtst 295 tm Sai mc one [e014 200 ‘Theorem 54 Te repent potion vec p of pint P of he Echt ee denna pace me ramen and Bae es ole = Dole QL Is 95.) Ing = [0" ed -b14+ fa) sith ida th vector ced frm he rin f Atha of a he Seeded om erin of Bo Pro sped 8, Prot Webs, Fg. 25, nay me expest te above ego ine la=(bla+ (ela Ine= Bla 1h em ‘isd oppd By 5) eu x seg, wh aly ads 1g 297 som repens nfume A ta poet npr ore age unee Qe(oid) siocinse= (syn) [4] trae [2] ow iy nd hence sh an compet pce yy hit e=lueel rg [QRS 0» rye Oe “4 0 @ E Ih =f )-spl-n eos Inher © [QF Heh = FOP 31Qesbeeies 1038 pesing as (2108s bene Ih 089 10. hplas (2108) [gh] ews ere, = [Ip ai = [BE hata] e108)* 2 Maem tnd on i ed nc ng in pilin A iy suey Ba 259) ee rete law we be] ee (eto [ 23 eu at) ~ aS SIGLED Sen feng el nating in ed ihre ut sug a baie compte alge 26 Similarity Transformations “Sipser ter than te pnt ver he eencing he nee ‘Whats led ne pst Scunon i cha ofan athe ec Inorg se, tantrmaor Lao denn vec ace Von fet il be sos Let A= (od & = (hy ew fer bases of nhc he nd (1 nmol Wa ta ype (Ts (2.108) ea ample 252. hn elie coned pit Of of poston vs by te Seer, and 2 ding wenn ane Maeve, sense be legge a ben Rade = te coutdnues of Op n't crit re Aig [Ly = (1-2, 7 Alive the eso ois Stor ce (oo, 0067. -055, whee papers bed he S34 is eagle far lence tolianvedane gts, ve ‘Thich sppeinse anja lke sli cing ena ‘Secsmpsitend putes) Satan Le, wane eto Ti, LB) wa eae wer pael the, 3 snd Zs, Tel ft ih toting the te Aint on sing [2 oer 08 =] [al.= tem nthe hes nd he cores ofp Fn and B ace IPL = Covers pl! aod ln = [nt oT spec, en th ego te lpn rpaety,(la = alates ann svt A sued Bg. (2115) gaan 2.118) he elim sag [vie= (7 Lvs ons) an [Lava = ila a= (alata ene Alas = (LLIALAIee ans le = [A Liba(Alalvle Cemparing (2125) wh 2.108 rai ad Ile = 1A"1LAE LAL aim a edt od he eet na rafrmaton hat aes te ple rei Hah Ale Se A i te sy 21S. By ALD whose nt yD) wih le w= filet bate to a 4 ikloan +02 ob abe and annex. 86 (2107 AMAL al A(ela= ele LLA(Alslele = AIALalela aan Beem 243 [Lo an eed te rn maton (le LP Lal easy foray ier Prof Tis idne by ndrton ork = 2,000 (p= AO LL LIALIAT LALA HOLE LIAla [yg = [ALA LAA LIAM LAILLAIALA (ALE Ale “Term 264, Thence of 9 as dat no cage de marty Prot psiinay skin wil bested: Lt [AB] sad [C] be tee e(A}EBILCD ~aybacs =Bacuay eB] (C]IAD 258 oof 84 127) (ls) = 1A“ L(baiALa) = MCALATAIL LLL ane Tenge io 2h verse Pd yn cori ane Asad Bo Ee = (AAU oA“ ene ‘eer 261, Te representa of A caring At B a eet fame (ala=[ale en Prof Sub frAa By (212 ota te toe ean ge inary tenors. Tae se gr bse eT aad ‘Bid amy onjomaon Mote es of ro {Flamin of eth nde te sary formation 212 i comapentng seemecorofltLase[sLa = (alee Prof Fem Bq (11 be ease ploomil ef (Lost 70) = eualtls~ (Lie e189) 70) = duaA ALAA AIA LIELALS = ae A“! Data =[LLO(AL0 eu a* Lae A) Inelela~ Aleea Fb meas RL.) =e) hey ing a co the nd go fae [O)a1PIat(@LalP lt? = (@]4(PP" 60" a) ics ded sty aeration 27° Invariance Concepts SETH lt cade fe arn ng a cpa penn ae bas frames, beeen Bw inoned m4 ta i, ager, ‘ihr ton ie peetston (9) rset wo ne Ietse pope otoronl mat [Qs deseo sino estan ue so Te acc acien Jip anes ani Hive) = ele ans) a= (ate as AEF A concn bong ne a en shin di) evan Pla=[Llnle sera change af courts a Bt A with Q eating elon cing Pla= [ellissagt ‘pen spt oe Cae-Hanon Toe, (2.1407 ao sok ah tba AT =O oun "Meme ke ence bah ese (2143 an tin (0) trom wc cs pet a7, eapeied as ata como he Ins {7 By Spent one we rove heh tie we al eb sgeteco begs eso mutaly orga sate tf momen or eo Tarn 2720 a gtd nk ht wo nm ats ce th fet ne I Se a Rapin ete gm cy (awa aRon h Hoc, toa 2.14, tt bail + oye) Fy Ath tit, $0 eT) “Tee ee of There 2.7.2, 40m sw Mee amet Tee Te ek Lot mahal bey Tei ee ase sn aly. he ea gy db a a= O1ari(0")s ean ed std maser, the ast mn ob dele peal rman Shed es tg of ae lay Spies UFslbL= lathe ea [eB 1Q14C ble ens ‘aeons ofa en maT dante by deed a gh 986) Taw, boo eo) (0) = Now wba rooms Proof Tes igen ned [p= [0 LT LAL enn owt 7 Las 7 ent he hon fT a. aes pent of 1m % marc arin de mir Vile = CALA IAL =n ad = ela hereby completing he pra ‘Theorem 27.2 Av a marcha ol inary ndpesend memes Pret, Lath casi ply fT be Pa) CAA“ LAT La) eysagt that te crept {canbe ed en By (250 beth ad BT ete Seven fre a anorectal ree be Fat lotwe ns feo en (afand (hated se 1QLd, re tae aus ‘The pth chan eucs cessing | oo 40 nee secon ew rg gu mao (LF aun refit] aun (o),- me es ‘ele Bod 1985) Th 1 Jide xb retin]. sen 2180 feb inthe byF FeBNT Fabby") ast ery canpleing ie compan of (QL deity an wt inl vector 274 Applications to Redundant Sensing cro termine he puse—ies te pain od natn ted fo enon ef be eect ee oa ee Te ae ‘fms werent nh ern psec ee ere et ke 12, repay Lets crane tine pear ec bog Sheer han Bepseing Win dB, expec” Whi ron ‘ronment eve vesuion Qf ame B wh espe ‘We tus ate A= ([R)q sed B = (Rg nd bac Be ghee shad conan ermiing |) equa [Oy The frme ase ie one sity emo Bg 15) ne ead faLnie’ls Al].= [0.8 Ths oon oh i da cin cs cid wih ‘Rede wea be elated y Bq (2199) ey can ate ch ver gens ‘inl cea compute he une none of he mas Qing {tame Ait 8, Howev sn A snd Bt chen tio, ny tol ermine Q:The cbs ney sang oo sonal wer eae ae ‘Stas mvace, uo meres ef ewan fe dB wept {Land 8 reapeciely at he matics epesening ese ae be ges, ‘ch fb to once ees by Ander = 1.2 Motes {edict = 1d bee lect tte As od Bp iif eae ards el re ci vy ra ‘es eee Oo x te fergie tne, thn A wd = retain fm he ome hig ee oe Bud By Tas me