IsThisAPen https://blog.hatena.ne.jp/IsThisAPen/ Notes_EN https://noteisthisapen.hatenadiary.com/ Formula Linear algebra 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… 190 <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> https://cdn-ak.f.st-hatena.com/images/fotolife/I/IsThisAPen/20170103/20170103224421.png Hatena Blog https://hatena.blog 2016-04-30 00:00:00 rich https://noteisthisapen.hatenadiary.com/entry/2016/04/30/000000 1.0 100%