Quaternions and spatial rotationUnit quaternions, known as versors, provide a convenient mathematical notation for representing spatial orientations and rotations of elements in three dimensional space. Specifically, they encode information about an axis-angle rotation about an arbitrary axis. Rotation and orientation quaternions have applications in computer graphics, computer vision, robotics, navigation, molecular dynamics, flight dynamics, orbital mechanics of satellites, and crystallographic texture analysis.
Special unitary groupIn mathematics, the special unitary group of degree n, denoted SU(n), is the Lie group of n × n unitary matrices with determinant 1. The matrices of the more general unitary group may have complex determinants with absolute value 1, rather than real 1 in the special case. The group operation is matrix multiplication. The special unitary group is a normal subgroup of the unitary group U(n), consisting of all n×n unitary matrices. As a compact classical group, U(n) is the group that preserves the standard inner product on .
Plane of rotationIn geometry, a plane of rotation is an abstract object used to describe or visualize rotations in space. The main use for planes of rotation is in describing more complex rotations in four-dimensional space and higher dimensions, where they can be used to break down the rotations into simpler parts. This can be done using geometric algebra, with the planes of rotations associated with simple bivectors in the algebra.
Abelian groupIn mathematics, an abelian group, also called a commutative group, is a group in which the result of applying the group operation to two group elements does not depend on the order in which they are written. That is, the group operation is commutative. With addition as an operation, the integers and the real numbers form abelian groups, and the concept of an abelian group may be viewed as a generalization of these examples. Abelian groups are named after early 19th century mathematician Niels Henrik Abel.
Dihedral groupIn mathematics, a dihedral group is the group of symmetries of a regular polygon, which includes rotations and reflections. Dihedral groups are among the simplest examples of finite groups, and they play an important role in group theory, geometry, and chemistry. The notation for the dihedral group differs in geometry and abstract algebra. In geometry, D_n or Dih_n refers to the symmetries of the n-gon, a group of order 2n. In abstract algebra, D_2n refers to this same dihedral group.
G-structure on a manifoldIn differential geometry, a G-structure on an n-manifold M, for a given structure group G, is a principal G-subbundle of the tangent frame bundle FM (or GL(M)) of M. The notion of G-structures includes various classical structures that can be defined on manifolds, which in some cases are tensor fields. For example, for the orthogonal group, an O(n)-structure defines a Riemannian metric, and for the special linear group an SL(n,R)-structure is the same as a volume form.
Rotation matrixIn linear algebra, a rotation matrix is a transformation matrix that is used to perform a rotation in Euclidean space. For example, using the convention below, the matrix rotates points in the xy plane counterclockwise through an angle θ about the origin of a two-dimensional Cartesian coordinate system. To perform the rotation on a plane point with standard coordinates v = (x, y), it should be written as a column vector, and multiplied by the matrix R: If x and y are the endpoint coordinates of a vector, where x is cosine and y is sine, then the above equations become the trigonometric summation angle formulae.
Rotation formalisms in three dimensionsIn geometry, various formalisms exist to express a rotation in three dimensions as a mathematical transformation. In physics, this concept is applied to classical mechanics where rotational (or angular) kinematics is the science of quantitative description of a purely rotational motion. The orientation of an object at a given instant is described with the same tools, as it is defined as an imaginary rotation from a reference placement in space, rather than an actually observed rotation from a previous placement in space.
Infinitesimal transformationIn mathematics, an infinitesimal transformation is a limiting form of small transformation. For example one may talk about an infinitesimal rotation of a rigid body, in three-dimensional space. This is conventionally represented by a 3×3 skew-symmetric matrix A. It is not the matrix of an actual rotation in space; but for small real values of a parameter ε the transformation is a small rotation, up to quantities of order ε2. A comprehensive theory of infinitesimal transformations was first given by Sophus Lie.
Rotations and reflections in two dimensionsIn Euclidean geometry, two-dimensional rotations and reflections are two kinds of Euclidean plane isometries which are related to one another. A rotation in the plane can be formed by composing a pair of reflections. First reflect a point P to its image P′ on the other side of line L1. Then reflect P′ to its image P′′ on the other side of line L2. If lines L1 and L2 make an angle θ with one another, then points P and P′′ will make an angle 2θ around point O, the intersection of L1 and L2. I.e.
Representation theoryRepresentation theory is a branch of mathematics that studies abstract algebraic structures by representing their elements as linear transformations of vector spaces, and studies modules over these abstract algebraic structures. In essence, a representation makes an abstract algebraic object more concrete by describing its elements by matrices and their algebraic operations (for example, matrix addition, matrix multiplication).
Group (mathematics)In mathematics, a group is a non-empty set with an operation that satisfies the following constraints: the operation is associative, has an identity element, and every element of the set has an inverse element. Many mathematical structures are groups endowed with other properties. For example, the integers with the addition operation is an infinite group, which is generated by a single element called 1 (these properties characterize the integers in a unique way).
