Rotation matrix

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Definition

A rotation matrix is a matrix or linear map (in $\mathbb{R}$) that gives the transformation of a rotation, in the plane this will be a rotation by an angle, in $\mathbb{R}^3$ it might correspond to a rotation about one of the principle axies, $x$, $y$ or $z$, or a general vector.

Quaternions are often used in implementations

See also

• 2-Dimensional rotation matrix
• 3-Dimensional rotation matrix
• Rotation matrices for computer graphics