Rotations
- Given: a and b
- Find: Transformation R that rotates a into b
- Solution: want R such that
b = Ra
Divide by a and we find R=b/a
- Notes:
- If a and b of different lengths, then R also scales
- Only rotates vectors in subspace spanned by a and b
- Alternative rotation form (Ra/R -- spinor)
- Directly contains axis of rotation, angle
- (Matrix form: Eigenvector, value)