平移的齐次变换矩阵
T r a n s ( Δ x , Δ y , Δ z ) = [ 1 0 0 Δ x 0 1 0 Δ y 0 0 1 Δ z 0 0 0 1 ] \mathrm{Trans}(\Delta x,\Delta y,\Delta z)=\begin{bmatrix}1&0&0&\Delta x\\0&1&0&\Delta y\\0&0&1&\Delta z\\0&0&0&1\end{bmatrix} Trans(Δx,Δy,Δz)= 100001000010ΔxΔyΔz1
旋转的齐次变换矩阵
R o t ( z , θ ) = [ cos θ − sin θ 0 0 sin θ cos θ 0 0 0 0 1 0 0 0 0 1 ] Rot(z,\theta)=\begin{bmatrix}\cos\theta&-\sin\theta&0&0\\\sin\theta&\cos\theta&0&0\\0&0&1&0\\0&0&0&1\end{bmatrix} Rot(z,θ)= cosθsinθ00−sinθcosθ0000100001
R o t ( x , θ ) = [ 1 0 0 0 0 cos θ − sin θ 0 0 sin θ cos θ 0 0 0 0 1 ] Rot(x,\theta)=\begin{bmatrix}1&0&0&0\\0&\cos\theta&-\sin\theta&0\\0&\sin\theta&\cos\theta&0\\0&0&0&1\end{bmatrix} Rot(x,θ)= 10000cosθsinθ00−sinθcosθ00001
R o t ( y , θ ) = [ cos θ 0 sin θ 0