Re: Rotation matrix definition

[Carlo De Falco]

> Il giorno 21 nov 2019, alle ore 10:11, Farzad Torabi <address@hidden> ha 
> scritto:
> 
> I need to convert the translations + rotations from global coordinate system 
> into a new coordinate system that is translated+rotated from the global one. 
> How do I obtain that ?
> 

This sounds like homework, is it?

If so, we usually avoid providing directly solutions to students' homework,
(and it would be particularly inappropriate in this case as we are in the same 
University)

That said, I think it is OK to provide some pointers.

Affine transformations in R^3 can be conveniently represented as (4x4) Matrix 
times (4x1)
vector multiplications using homogeneus coordinates, you can find the theory 
about this
in any undergraduate text on linear algebra and geometry.

The package "nurbs" contains utility functions "vecrot" and "vectrans" that 
help you construct
the appropriate matrices representing an affine transformation.

hope this helps,
c.