二维旋转矩阵
二维旋转是绕着某一个点进行旋转。如上图所示,蓝色线绕着O点旋转
θ
\theta
θ角度到绿色线。
假设蓝色线为
l
l
l,绿色线为
l
′
l'
l′。
x
=
r
c
o
s
ϕ
x
′
=
r
c
o
s
(
ϕ
+
θ
)
=
r
c
o
s
ϕ
c
o
s
θ
−
r
s
i
n
ϕ
s
i
n
θ
=
x
c
o
s
θ
−
y
s
i
n
θ
x=rcos\phi \quad x'=rcos(\phi+\theta)=rcos\phi cos\theta-rsin\phi sin\theta=xcos\theta-ysin\theta
x=rcosϕx′=rcos(ϕ+θ)=rcosϕcosθ−rsinϕsinθ=xcosθ−ysinθ
y
=
s
i
n
ϕ
y
′
=
r
s
i
n
(
ϕ
+
θ
)
=
r
s
i
n
ϕ
c
o
s
θ
+
r
c
o
s
ϕ
s
i
n
θ
=
x
s
i
n
θ
+
y
c
o
s
θ
y=sin\phi \quad y'=rsin(\phi+\theta)=rsin\phi cos\theta+rcos\phi sin\theta=xsin\theta+ycos\theta
y=sinϕy′=rsin(ϕ+θ)=rsinϕcosθ+rcosϕsinθ=xsinθ+ycosθ
写成矩阵的形式是:
[
x
′
y
′
]
=
[
cos
θ
−
sin
θ
sin
θ
cos
θ
]
∗
[
x
y
]
\left[\begin{array}{l} x^{\prime} \\ y^{\prime} \end{array}\right]=\left[\begin{array}{ll} \cos \theta & -\sin \theta \\ \sin \theta & \cos \theta \end{array}\right] *\left[\begin{array}{l} x \\ y \end{array}\right]
[x′y′]=[cosθsinθ−sinθcosθ]∗[xy]