2. Consider the following parameterization of the rotation matrix p= a tan 2. where a is the principal axis and a is the angle of rotation. These are called the Euler- Rodrigues parameters. (a) Show that the rotation matrix associated with p is given by: (1-p"p)I+2pp" - 2p)x C21 1+ p"p

Linear Algebra: A Modern Introduction
4th Edition
ISBN:9781285463247
Author:David Poole
Publisher:David Poole
Chapter3: Matrices
Section3.6: Introduction To Linear Transformations
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2. Consider the following parameterization of the rotation matrix
P= a tan
where a is the principal axis and a is the angle of rotation. These are called the Euler-
Rodrigues parameters.
(a) Show that the rotation matrix associated with p is given by:
(1-p"p)I +2pp" - 2p)x
C21
1+p"p
Transcribed Image Text:2. Consider the following parameterization of the rotation matrix P= a tan where a is the principal axis and a is the angle of rotation. These are called the Euler- Rodrigues parameters. (a) Show that the rotation matrix associated with p is given by: (1-p"p)I +2pp" - 2p)x C21 1+p"p
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