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Evgenij-Gr/Rodrigues_sequence

Created November 8, 2016 08:36
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Rodrigues_sequence
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Rodrigues_sequence
Первое преобразование
$$ e'_{x/y/z} = {\rm Rodr}_{\langle \phi_1, e_z \rangle} (e_{x/y/z}) $$
$$ v' = {\rm Rodr}_{\langle \phi_1, e_z \rangle} (v) $$
Второе преобразование
$$ e''_{x/y/z} = {\rm Rodr}_{\langle \phi_2, e'_y \rangle} (e'_{x/y/z}) $$
$$ v'' = {\rm Rodr}_{\langle \phi_2, e'_y \rangle} (v') $$
Третье преобразование
$$ v''' = {\rm Rodr}_{\langle \phi_3, e''_y \rangle} (v'') $$
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