Transformation Frame

1. Column Vector

2. Angle Notations

• euler angles have limitations
  • 24 different variation of conventions(惯例)
  • singular(惯例) alignment
  • Non-uniqueness (confusing)
  • cannot be interpolated(插入) linearly
• Rotation matrices are large and complicated
• Euler angles are simpler to understand
• Quaternion provide better way to handle notations

3. Homogeneous(同种类的) Transformation