 Axis–angle representation

An axis-angle representation specifies a rotation of three-dimensional Euclidean space by an oriented unit axis and an angle. The axis is fixed, and the perpendicular plane undergoes a pure rotation, with no dilation.

Axis-angle representation is a way to describe rotations in three-dimensional space using a combination of a rotation axis and an angle of rotation about that axis. This representation is particularly useful in computer graphics, robotics, and aerospace for representing orientations and rotations. ### Components of Axis-Angle Representation: 1. **Axis**: This is a unit vector that defines the direction of the axis around which the rotation occurs.