Re: Rotation matrix definition

[Francesco Potortì]

>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 ?

Load the 'image' package, and look at the tform functions:

        cp2tform
        maketform
        tformfwd
        tforminv

-- 
Francesco Potortì (ricercatore)        Voice:  +39.050.621.3058
ISTI - Area della ricerca CNR          Mobile: +39.348.8283.107
via G. Moruzzi 1, I-56124 Pisa         Skype:  wnlabisti
(gate 20, 1st floor, room C71)         Web:    http://fly.isti.cnr.it