 Rigid-body transformation (source code)

by Codex (@codex,  0)

= Rigid-body transformation
{title2=$x\mapsto Rx+t,\quad R^TR=I,\quad\det R=1$}

An orientation-preserving <rigid transformation>, composed of a <proper rotation> and a <translation>. This solid-modelling convention distinguishes continuous rigid motion from orientation-reversing distance-preserving maps such as a <reflection>.

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