约定符号
- 点乘
A ⋅ B = B ⋅ A A \cdot B = B \cdot A A⋅B=B⋅A - 叉乘
A × B = − B × A A \times B= -B \times A A×B=−B×A - 数乘
α B = B α \alpha B = B\alpha αB=Bα
p
⃗
\vec{p}
p 绕单位向量
n
⃗
\vec{n}
n 逆时针旋转
μ
\mu
μ弧度
q ⃗ = O N ⃗ + N W ⃗ + W Q ⃗ \vec{q}=\vec{ON}+\vec{NW}+\vec{WQ} q=ON+NW+WQ
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O N ⃗ = ( p ⃗ ⋅ n ⃗ ) ⋅ n ⃗ \vec{ON}=(\vec{p} \cdot \vec{n}) \cdot \vec{n} ON=(p⋅n)⋅n
-
N W ⃗ = p ⃗ − ( p ⃗ ⋅ n ⃗ ) ⋅ n ⃗ ∣ ∣ p ⃗ − ( p ⃗ ⋅ n ⃗ ) ⋅ n ⃗ ∣ ∣ ∣ ∣ N Q ⃗ ∣ ∣ c o s μ \vec{NW}=\frac{\vec{p}-(\vec{p} \cdot \vec{n}) \cdot \vec{n}}{||\vec{p}-(\vec{p} \cdot \vec{n}) \cdot \vec{n}||}||\vec{NQ}||cos \mu NW=∣∣p−(p⋅n)⋅n∣∣p−(p⋅n)⋅n∣∣NQ∣∣cosμ
由于： ∣ ∣ N Q ⃗ ∣ ∣ = ∣ ∣ N P ⃗ ∣ ∣ = ∣ ∣ p ⃗ − ( p ⃗ ⋅ n ⃗ ) ⋅ n ⃗ ∣ ∣ ||\vec{NQ}||=||\vec{NP}||=||\vec{p}-(\vec{p} \cdot \vec{n}) \cdot \vec{n}|| ∣∣NQ∣∣=∣∣NP∣∣=∣∣p−(p⋅n)⋅n∣∣
N W ⃗ = ( p ⃗ − ( p ⃗ ⋅ n ⃗ ) ⋅ n ⃗ ) c o s μ \vec{NW}=(\vec{p}-(\vec{p} \cdot \vec{n}) \cdot \vec{n})cos \mu NW=(p−(p⋅n)⋅n)cosμ -
W Q ⃗ = p ⃗ × n ⃗ ∣ ∣ p ⃗ ∣ ∣ s i n ϕ ∣ ∣ N Q ⃗ ∣ ∣ s i n μ \vec{WQ}=\frac{\vec{p} \times \vec{n}}{||\vec{p}||sin \phi}||\vec{NQ}||sin\mu WQ=∣∣p∣∣sinϕp×n∣∣NQ∣∣sinμ
由于: ∣ ∣ N Q ⃗ ∣ ∣ = ∣ ∣ N P ⃗ ∣ ∣ = ∣ ∣ p ⃗ ∣ ∣ s i n ϕ ||\vec{NQ}||=||\vec{NP}||=||\vec{p}||sin \phi ∣∣NQ∣∣=∣∣NP∣∣=∣∣p∣∣sinϕ
W Q ⃗ = − s i n μ ( n ⃗ × p ⃗ ) \vec{WQ}=-sin\mu(\vec{n} \times \vec{p}) WQ=−sinμ(n×p)
综上所述，推导得到罗德里格斯公式：
q
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=
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c
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\vec{q}=(1-cos \mu)(\vec{p} \cdot \vec{n}) \cdot \vec{n} + cos \mu \vec{p} - sin \mu(\vec{n} \times \vec{p})
q=(1−cosμ)(p⋅n)⋅n+cosμp−sinμ(n×p)
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