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The question I'm trying to figure out states that I have 3 points P1, P2 and P3 in space. In one frame (Frame A I called it) those points are: Pa1, Pa2 and Pa3, same story for Frame B (namely: Pb1, Pb2 and Pb3).

Whats the rotation matrix from one to the other? That's literally all the information I have. What was suggested was make an intermediate coordinate frame and align one of it's axis' with a point. However I don't see how this will help with the problem.

Can anyone offer some advice how to tackle this problem? I'm stumped.

Thanks, Edit: Both frames have the same origin, so there is no translation component.

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    Rotation with respect to what? Is it to be assumed that the rotation is around the origin $O$ and the points can be represented by vectors $P - O$?2011-02-22

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