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.. (לתיקייה המכילה) | |
The solution of the eigenvalue problem of the rotation matrix gives us 3 eigenvalues: | |
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You can either rotate around vector r with angle t or around vector -r with angle -t. What is the right way? Let's pay attention that according to right-hand rule the vector (v x Rv) points to the axis of rotation! So the axis of rotation is (v x Rv)/||v x Rv|| . We choose the angle that is compatible with this axis if t > 0 then it is else it is not!! |