[平面几何] 直角坐标系下点/曲线平移与旋转的矩阵计算

定义：

1.旋转：绕原点旋转，逆时针旋转为正，旋转角度为\[\theta \]

2.平移：平移向量为\[({x_0},{y_0})\]

旋转矩阵：

1.点旋转：

\[{P_{rot}} = \left[ {\begin{array}{*{20}{c}}
{\cos \theta }&{-\sin \theta }&0\\
{\sin \theta }&{\cos \theta }&0\\
0&0&1
\end{array}} \right]P\]

\[P = \left[ {\begin{array}{*{20}{c}}
x\\
y\\
1
\end{array}} \right]\]

2.曲线C旋转：

曲线C为：

\[A{x^2} + Bxy + C{y^2} + Dx + Ey + F = 0\]

\[{\left[ {\begin{array}{*{20}{c}}
x\\
y\\
1
\end{array}} \right]^T}\left[ {\begin{array}{*{20}{c}}
A&{B{\rm{/2}}}&{D{\rm{/}}2}\\
{B{\rm{/2}}}&C&{E{\rm{/2}}}\\
{D{\rm{/}}2}&{E{\rm{/2}}}&F
\end{array}} \right]\left[ {\begin{array}{*{20}{c}}
x\\
y\\
1
\end{array}} \right]{\rm{ = 0}}\]

\[C = \left[ {\begin{array}{*{20}{c}}
A&{B{\rm{/2}}}&{D{\rm{/}}2}\\
{B{\rm{/2}}}&C&{E{\rm{/2}}}\\
{D{\rm{/}}2}&{E{\rm{/2}}}&F
\end{array}} \right]\]

\[\begin{array}{l}
{C_{Rot}} = {R^T}CR\\
R = \left[ {\begin{array}{*{20}{c}}
{\cos \theta }&{\sin \theta }&0\\
{ - \sin \theta }&{\cos \theta }&0\\
0&0&1
\end{array}} \right]
\end{array}\]

平移

\[\begin{array}{l}
{C_{Trans}} = {T^T}CT\\
T = \left[ {\begin{array}{*{20}{c}}
1&0&{ - {x_0}}\\
0&1&{ - {y_0}}\\
0&0&1
\end{array}} \right]
\end{array}\]

实验验证

1.点的旋转（红色是旋转后的）

 theta = pi/2;
   Rot1 = [cos(theta) -sin(theta) 0;
        sin(theta) cos(theta) 0;
        0       0       1;]
   P = [1,0,1]';
   P1 = Rot1 * P;
   figure
   plot(P(1),P(2),'bx','linewidth',15)
   hold on;
   plot(P1(1),P1(2),'ro','linewidth',15)
   xlim([-0.5,2])
   ylim([-0.5,2])
   grid on;

　　 旋转角度90

旋转角度45

2.曲线的旋转和平移（红色是旋转平移后的）

a1 = 3;
b1 = 2;
C1  = [1/a1.^2  0       0;
        0       1/b1.^2 0;
        0   	0       -1;];
figure(1)
syms x y
f0=ezplot( C1(1,1)*x^2+ C1(2,2)*y^2 +C1(3,3) + 2*C1(1,2)*x*y + 2*C1(1,3)*x +2*C1(2,3)*y,[-6,6],[-6,6]);
set(f0,'Color','b','LineWidth',1.5)
hold on;
grid on;
% 画椭圆1

% 画椭圆1旋转平移
theta = pi/4;
Rot = [cos(theta) sin(theta) 0;
        -sin(theta) cos(theta) 0;
        0       0       1;]
x0 = 1;
y0 = 2;
T = [1 0 -x0;
     0 1 -y0;
     0 0 1;];
C1 =  T'*Rot'*C1*Rot*T

syms x y
f1 = ezplot( C1(1,1)*x^2+ C1(2,2)*y^2 +C1(3,3) + 2*C1(1,2)*x*y + 2*C1(1,3)*x +2*C1(2,3)*y,[-6,6],[-6,6]);
set(f1,'Color','r','LineWidth',1.5)

 

转载于:https://www.cnblogs.com/LoveBuzz/p/9919233.html