WebFrom a rotation angle $ \alpha $ (trigonometric direction) and an axis, the rotation matrix is written as (rotation around the axis $ z $) $$ \begin {bmatrix} \cos \alpha & - \sin \alpha & 0 \\ \sin \alpha \cos \alpha & 0 \\ 0 & 0 & 1 \ \end{bmatrix} $$. From 2 vectors (the original and the destination one), it is possible to generate an equation system to solve to find the … WebWe learn the formula for a change of basis, do an example, and then explore why the formula works.
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Change of basis Chapter 13, Essence of linear algebra
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