THEORETICAL EXERCISE

RIGID XFORMS EXAM 04-03-2017

IM 0242. INTRODUCTION TO CAD CAM SYSTEMS
PROF. OSCAR RUIZ SALGUERO
HYPOTHESES:
1. The rotation of a point ‘po’ using a quaternion q=[e,theta] is given by:

pf=po+(2*F(theta)*(e1 x po))+(2*e1 x (e1 x po)) = Q(po,e,theta) (EQ 1)

with
e: unitary axis of rotation
theta: rotation angle in radians (CCW w.r.t. 'e')
e1= sin(theta /2)*e
F(theta)= cos( theta /2 )
po: point (or vector pivoted at origin) to be rotated
pf: point (or vector pivoted at origin) result of the rotation

2. The Quaternion in Eq.1 implements a rotation R, around axis e (passing

through the origin), by an angle theta.

3. the eigenpair or characteristic equation for matrix R is

R.v = L . v (EQ. 2)

with v:eigenvector, L:eigenvalue.

PROVE (using Step, Statement, Rationale Table) that:

The pair (e,1) is an eigenpair for R.

HINT: theorem implies that, in particular, the axis of rotation is undeformed

under rotation.

SOLUTION
STEP STATEMENT RATIONALE
1 Q(po,e,theta) also applies for v Hypothesis (1)
vector at the origin.
2 Q(e,e,theta) = e +(2*F(theta)*(e1 x Rotation applied to the
e))+(2*e1 x (e1 x e)) rotation axis e itself
3 e1 x e = 0 e1= sin(theta /2)*e (in
hypothesis 1)
4 Q(e,e,theta) = e + 0 + 0 = e (3) in (2)
5 R.e=e (4) proves that rotation
of e around e gives e as
result.
6 R.e=L.e (5) proves that e is an
eigenvector of R
7 L=1 R is rigid and cannot
change size of e.
Comparison of (5) and (6)
8 (e,1) is eigenpair of R (6) and (7)

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