{"version":"1.0","width":"100%","published":"2016-04-30 00:00:00","categories":["Formula","Linear algebra"],"title":"Easy way to derive rotation matrix","height":"190","html":"<iframe src=\"https://hatenablog-parts.com/embed?url=https%3A%2F%2Fnoteisthisapen.hatenadiary.com%2Fentry%2F2016%2F04%2F30%2F000000\" title=\"Easy way to derive rotation matrix - Notes_EN\" class=\"embed-card embed-blogcard\" scrolling=\"no\" frameborder=\"0\" style=\"display: block; width: 100%; height: 190px; max-width: 500px; margin: 10px 0px;\"></iframe>","author_name":"IsThisAPen","provider_url":"https://hatena.blog","blog_url":"https://noteisthisapen.hatenadiary.com/","type":"rich","image_url":"https://cdn-ak.f.st-hatena.com/images/fotolife/I/IsThisAPen/20170103/20170103224421.png","author_url":"https://blog.hatena.ne.jp/IsThisAPen/","provider_name":"Hatena Blog","blog_title":"Notes_EN","url":"https://noteisthisapen.hatenadiary.com/entry/2016/04/30/000000","description":"It is very easy to derive rotation matrix. This method is applied to general cases. Derivation Step1. Calculate rotation of unit vectors Step2. Arrange two vectors Background: Why can we derive? Derivation Step1. Calculate rotation of unit vectors Calculate rotation of unit vector of $x$ axis by $\\t\u2026"}