基础知识
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线性代数、微积分、统计（Linear algebra, calculus, statistics ）
向量
笛卡尔坐标系
A = ( x y ) , A T = ( x y ) , ∣ ∣ A ∣ ∣ = x 2 + y 2 A= \left( \begin{matrix} x \\ y \end{matrix} \right) , A^T= \left( \begin{matrix} x & y \end{matrix} \right) , ||A||=\sqrt{x^2+y^2} A=(xy),AT=(xy),∣∣A∣∣=x2+y2向量点乘
a ⃗ ⋅ b ⃗ = ∣ ∣ a ⃗ ∣ ∣ ∣ ∣ b ⃗ ∣ ∣ c o s θ \vec a \cdot \vec b=||\vec a||||\vec b||cos\theta a⋅b=∣∣a∣∣∣∣b∣∣cosθ
对单位向量: c o s θ = a ^ ⋅ b ^ cos\theta=\hat a \cdot \hat b cosθ=a^⋅b^
笛卡尔坐标系的点乘：
a ⃗ ⋅ b ⃗ = ( x a y a z a ) ⋅ ( x b y b z b ) = x a x b + y a y b + z a z b \vec a \cdot \vec b= \left( \begin{matrix} x_a \\ y_a \\z_a \end{matrix} \right) \cdot \left( \begin{matrix} x_b \\ y_b \\z_b \end{matrix} \right) = x_ax_b + y_ay_b +z_az_b a⋅b=⎝⎛xayaza⎠⎞⋅⎝⎛xbybzb⎠⎞=xaxb+yayb+zazb
计算两向量夹角，一向量到另一向量垂直与平行分解，计算两向量有多接近
向量叉乘
a × b = − b × a ∣ ∣ a × b ∣ ∣ = ∣ ∣ a ∣ ∣ ∣ ∣ b ∣ ∣ s i n θ a \times b=-b \times a \\ ||a \times b||=||a||||b||sin\theta a×b=−b×a∣∣a×b∣∣=∣∣a∣∣∣∣b∣∣sinθ
笛卡尔坐标系的叉乘：
a ⃗ × b ⃗ = ( y a z b − y b a a z a x b − x a z b x a y b − y a x b ) \vec a \times \vec b= \left( \begin{matrix} y_az_b-y_ba_a \\ z_ax_b-x_az_b \\x_ay_b-y_ax_b \end{matrix} \right) a×b=⎝⎛yazb−ybaazaxb−xazbxayb−yaxb⎠⎞判定两向量左右、内外
矩阵乘矩阵，矩阵乘向量
关于y轴翻转
( − 1 0 0 − 1 ) ( x y ) = ( − x y ) \left( \begin{matrix} -1 & 0 \\ 0 & -1 \end{matrix} \right) \left( \begin{matrix} x \\ y \end{matrix} \right)= \left( \begin{matrix} -x \\ y \end{matrix} \right) (−100−1)(xy)=(−xy)
矩阵的逆
I 3 × 3 = ( 1 0 0 0 1 0 0 0 1 ) A A − 1 = A − 1 A = I ( A B ) − 1 = B − 1 A − 1 I_{3\times 3}= \left( \begin{matrix} 1&0&0 \\ 0&1&0 \\ 0&0&1 \end{matrix} \right)\\ AA^{-1}=A^{-1}A=I \\ (AB)^{-1}=B^{-1}A^{-1} I3×3=⎝⎛100010001⎠⎞AA−1=A−1A=I(AB)−1=B−1A−1
向量点乘、叉乘可写成矩阵形式
a ⃗ ⋅ b ⃗ = a ⃗ T ⋅ b ⃗ = ( x a y a z a ) ( x b y b z b ) = ( x a x b + y a y b + z a z b ) \vec a \cdot \vec b=\vec a^T \cdot \vec b=(x_a ~~ y_a ~~ z_a) \left( \begin{matrix} x_b \\ y_b \\ z_b \end{matrix} \right)=(x_ax_b+y_ay_b+z_az_b) a⋅b=aT⋅b=(xa ya za)⎝⎛xbybzb⎠⎞=(xaxb+yayb+zazb)
a ⃗ × b ⃗ = A ∗ b = ( 0 − z a y a z a 0 − x a − y a x a 0 ) ( x b y b z b ) \vec a \times \vec b=A * b= \left( \begin{matrix} 0&-z_a&y_a \\ z_a&0&-x_a \\ -y_a&x_a&0 \end{matrix} \right) \left( \begin{matrix} x_b \\ y_b \\ z_b \end{matrix} \right) a×b=A∗b=⎝⎛0za−ya−za0xaya−xa0⎠⎞⎝⎛xbybzb⎠⎞ -
Optics, Mechanics 光学、力学
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Signal processing、Numerical analysis 信号分析、数值处理
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aesthetics 美学
193
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