Problem 44892. Create a 3D rotation matrix

Peter Corke

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Consider an arbitrary coordinate frame {A}. Consider another coordinate frame {B} which has the same origin as {A} but is rotated by -90degrees about the y-axis of frame {A}. Write the SO(3) rotation matrix that will transform the coordinates of a point, defined with respect to {B}, to the coordinates with respect to {A}.

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25 Solutions

Last Solution submitted on May 30, 2026

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2 Comments

Paul Morant on 23 Apr 2019

You should think about having an input variable rather than describing it as only -90 degrees in the description.

Peter Corke on 23 Apr 2019

Easy to do, what's your reasoning?

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