Rotation matrix ↩

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created: 2021-11-02 21:08:31
modified: 2022-01-10 04:13:04

A rotation matrix a matrix used to perform a rotation in Euclidean space.

In 2D

For any dimensional rotation matrix :
I.e. the matrix is orthogonal (Unitary matrix, but that term is not really used on real matrices)
, the determinant is positive for a proper rotation, and negative for a roto-reflection