Note: A positive rotation about the z-axis is defined as one
that rotates from the positive x-axis to the postive y-axis. We can similarly
define rotations about the other two axes. These definitions hold for both
RHCS and LHCS.
-
about x-axis: positive y to positive z
-
about y-axis: positive z to positive x
-
about z-axis: positive x to positive y
Transformation Matrices
The transformations defined above can be rewritten using 4x4 matrices and
homogeneous coordinates. The general form of the matrix is:
The expressions derived earlier correspond to the following transformation
matrices.
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