Spatial Descriptions

Mehari K.

Bahirdar Univeristy
1 3/3/2016
Points and Vectors
 point : a location in space
 vector : magnitude (length) and direction between two points

v
q

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Coordinate Frames
 choosing a frame (a point and two perpendicular vectors of
unit length) allows us to assign coordinates

0
p

4
p  
0
ŷ 0 q0  2 .5 
2
q  
0

x̂0 1.5
0 o0  2
v  p q   
0 0 0

1 
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Coordinate Frames
 the coordinates change depending on the choice of frame

1
p
1 o1
ŷ1  0.5
p 
1

q1  4 
0.5
x̂1 q  
1

2
 1
v  p q   
1 1 1

2
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Dot Product
 the dot product of two vectors
 u1   v1 
u  v 
u   2 v   2 u  v  u1v1  u2v2   unvn  uT v
 
    u  v  u v cos
un  vn 


v
u cos

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Translation

ŷ 0 ŷ1

x̂0 x̂1
o0 o1
0 1
 suppose we are given o1 expressed in {0}

 3
o  
0
1
0 

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Translation 1

ŷ 0 ŷ1

x̂0 x̂1
o0 o1
0 1
 the location of {1} expressed in {0}

 3 0   3 
d  o o       
0
1
0
1
0
0
0  0  0 

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Translation 1
1. the translation vector d ij can be interpreted as the location
of frame {j} expressed in frame {i}

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Translation 2
a point expressed
in frame {1}

ŷ 0 ŷ1 1
p  
1

1
x̂0 x̂1
o0 o1
0 1
 p1 expressed in {0}

3 1 4

p d  p     
0 0
1
1

0 1 1

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Rotation
 suppose that frame {1} is rotated relative to frame {0}

ŷ 0
ŷ1
x̂1
sin

o0  o1 x̂0

cos

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Rotation 1
 the orientation of frame {1} expressed in {0}

ŷ 0
ŷ1
x̂1


o0  o1 x̂0

 x1  x0 y1  x0 
R 
0

 x1  y0 y1  y0 
1

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Rotation 1
1. the rotation matrix R ij can be interpreted as the orientation
of frame {j} expressed in frame {i}

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Rotation 2
 p1 expressed in {0}
1
p  
1
ŷ 0 1
ŷ1
x̂1


o0  o1 x̂0

cos  sin   1

p R p 
0 0 1

 sin  cos  1

1

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Rotation 2
2. the rotation matrix R ij can be interpreted as a coordinate
transformation of a point from frame {j} to frame {i}

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Rotation 3
 q0 expressed in {0}

q0
ŷ 0
p0

o0 x̂0

cos  sin   1

q R p 
0 0

 sin  cos  1

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Properties of Rotation Matrices
 RT = R-1
 the columns of R are mutually orthogonal
 each column of R is a unit vector
 det R = 1 (the determinant is equal to 1)

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Rotation and Translation

ŷ1
ŷ 0 x̂1
o1
x̂0 1
o0
0

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Rotations in 3D

ẑ0
ŷ1
ẑ1
x̂1

ŷ 0
o0  o1

 x1  x0 y1  x0 z1  x0 
x̂0
R10   x1  y0 y1  y0 z1  y0 
 x1  z0 y1  z0 z1  z0 

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Rotation About z-axis

zˆ0  zˆ1
+'ve rotation

ŷ1
ŷ 0


x̂0 x̂1

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Rotation About x-axis

ẑ0
ẑ1

ŷ1


ŷ 0
+'ve rotation

x̂0 x̂1

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Rotation About y-axis

ẑ0

ẑ1

yˆ 0  yˆ1

+'ve rotation

x̂0 x̂1

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Successive Rotations in Moving Frames
1. Suppose you perform a rotation in frame {0} to obtain {1}.
2. Then you perform a rotation in frame {1} to obtain {2}.

What is the orientation of {2} relative to {0}?

ẑ1 ẑ0 zˆ1  zˆ2 ẑ2 ẑ0


x̂0 x̂0
 ŷ2 ŷ2
x̂1
x̂1
yˆ 0  yˆ1 x̂2 ŷ1 x̂2 ŷ 0
R10  Ry , R21  Rz , R2  ?
0

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Successive Rotations in a Fixed Frame
1. Suppose you perform a rotation in frame {0} to obtain {1}.
2. Then you rotate {1} in frame {0} to obtain {2}.

What is the orientation of {2} relative to {0}?


ẑ1 ẑ0 ẑ1 ẑ0 ẑ2 ẑ0
ŷ1 ŷ2
x̂0 x̂0 x̂0

x̂1
yˆ 0  yˆ1 x̂1 ŷ 0 x̂2 ŷ 0
R  Ry ,
0
1
R  Rz , R ?
0
2
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Composition of Rotations
1. Given a fixed frame {0} and a current frame {1} and R10
 if {2} is obtained by a rotation R in the current frame {1} then use
postmulitplication to obtain:

R  R 12 and R 02  R 10 R 12

2. Given a fixed frame {0} and a frame {1} and

 if {2} is obtained by a rotation R in the fixed frame {0} then use
premultiplication to obtain:

R 02  RR 10

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 Rigid Body Transformations

Bahirdar Univeristy
25 3/3/2016
Homogeneous Representation
 translation represented by a vector d
 vector addition
 rotation represented by a matrix R
 matrix-matrix and matrix-vector multiplication
 convenient to have a uniform representation of translation
and rotation
 obviously vector addition will not work for rotation
 can we use matrix multiplication to represent translation?

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Homogeneous Representation
 consider an augmented vector ph and an augmented matrix D
 px  1 0 0 dx 
p  0
 y 1 0 d y 
ph  D
 pz  0 0 1 dz 
   
1 0 0 0 1

1 0 0 d x   px   px  d x 
0 1 0 d y   p y   p y  d y 
Dph   
0 0 1 d z   pz   pz  d z 
    
0 0 0 1  1   1 
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Homogeneous Representation
 the augmented form of a rotation matrix R3x3
  0
  0
  R3x3  
R
   0
 0 0 0 1


  0  p x    

R3x3  0  p    R p  
Rph       y    3x3  
  0  pz    
 0 0 0   
 1  1   1 


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Rigid Body Transformations in 3D

{1}
d 10
{0} d 12

{2}

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Rigid Body Transformations in 3D
 suppose {1} is a rotated and translated relative to {0}
 what is the pose (the orientation and position) of {1}
expressed in {0} ?
T 10  ?

{1}
d
{0}

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Rigid Body Transformations in 3D
 suppose we use the moving frame interpretation (postmultiply
transformation matrices)
1. translate in {0} to get {0’} D 00'
2. and then rotate in {0’} to get {1} D00' R10'

{0’}
d
{0}
{0’}
d {1}

Step 1 {0}

Step 2
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Rigid Body Transformations in 3D
 suppose we use the fixed frame interpretation (premultiply
transformation matrices)
1. rotate in {0} to get {0’} R
2. and then translate in {0} in to get {1} DR

{0}

{0’} d {1}

Step 1 {0}

Step 2 {0’}
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Rigid Body Transformations in 3D
 both interpretations yield the same transformation

T10  D R
1 0 0      0
      0
 0 1 0 d     R3x3  

0 0 1       0
0 0 0 1   0 0 0 1

   
  d  
 R  
  3x3 
     
 0 0 0 
 1 
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Homogeneous Representation
 every rigid-body transformation can be represented as a
rotation followed by a translation in the same frame
 as a 4x4 matrix

 R d
T  
0 0 0 1 

where R is a 3x3 rotation matrix and d is a 3x1 translation vector

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Homogeneous Representation
 in some frame i
 points

 p 
i
P  
i

1

 vectors

 v i

V  
i

0

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Inverse Transformation
 the inverse of a transformation undoes the original
transformation
 if
 R d
T  
 0 0 0 1 
 then

1  R T
 R T
d
T  
0 0 0 1 

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