Rotation matrix

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Definition

A rotation matrix is a matrix or linear map (in [ilmath]\mathbb{R} [/ilmath]) that gives the transformation of a rotation, in the plane this will be a rotation by an angle, in [ilmath]\mathbb{R}^3[/ilmath] it might correspond to a rotation about one of the principle axies, [ilmath]x[/ilmath], [ilmath]y[/ilmath] or [ilmath]z[/ilmath], or a general vector.

Quaternions are often used in implementations

See also

• 2-Dimensional rotation matrix
• 3-Dimensional rotation matrix
• Rotation matrices for computer graphics