           


                             N6

                     


           2७    㬥୮ ࠭⢥


     ७ 窨 P(x,y)   P(x',y'):
     x' = x + 7D0x
     y' = y + 7D0y

        業  न  (窠 P(x,y) 室 
 P(x',y')):
     x' = x cos 7f0 - y sin 7f
     y' = x sin 7f0 + y cos 7f


                  ᫥  筮 ଥ

     ७:
                                           
                                      1  0 
                   [x' y'] = [x y 1]  0  1 
                                     7D0x 7D0y 
                                           
      ࠡ  ⭮ 楩 ७ ( -
  祭  䨪⨢ ६):
                                              
                                      1  0  0 
                 [x' y' 1] = [x y 1]  0  1  0 
                                     7D0x 7D0y  1 
                                              
        ਭ 뢠   ⥬ "த
न".

       業 न  㣮 7f0:

                                               
                                  cos 7f0  sin 7f0 
                [x' y'] = [x y]                
                                 -sin 7f0  cos 7f0 
                                               
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                              - 2 -

                                                    
                                 cos 7f0  sin 7f0   0   
           [x' y' 1] = [x y 1]  -sin 7f0  cos 7f0   0   
                                  0      0      1   
                                                    

        ந쭮 窨  न⠬ (x400,y400) 
㣮 7f0   ।⠢ 㫮:

                      [x' y' 1] = [x y 1] R

      १ R 祭   ࠧ஬ 3x3.

       ⮨   権:

     1. ८ࠧ  ७ 窨 (x400,y400)  砫  -
 :
                                        
                              1   0   0 
                       T' =   0   1   0 
                             -x400 -y400  1 
                                        
     2.   砫 न  㣮 7f0:
                                            
                         cos 7f0  sin 7f0   0   
                  R400 =  -sin 7f0  cos 7f0   0   
                          0      0      1   
                                            
     3. ७  砫 न   (x400,y400):
                                       
                             1   0   0 
                        T =  0   1   0 
                             x400  y400  1 
                                       

      R = T'R400T:
                                            
                         cos 7f0  sin 7f0   0   
                   R =  -sin 7f0  cos 7f0   0   
                          c410     c420     1   
                                            
     
     c410 = x400 - x400 cos 7f0 + y400 sin 7f
     c420 = y400 - x400 sin 7f0 - y400 cos 7f

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                              - 3 -

           2७    嬥୮ ࠭⢥

     ७ 窨 P(x,y,z)   P'(x',y',z'):
     x' = x + 7D0x
     y' = y + 7D0y
     z' = z + 7D0z

      筮 ଥ:

                   [x' y' z' 1] = [x y z 1] T

                                       
                            1  0  0  0 
                       T =  0  1  0  0 
                            0  0  1  0 
                           7D0x 7D0y 7D0z  1 
                                       

         㣮 7a0:
                                            
                          1      0      0   
                  R4x0 =    0     cos 7a0  sin 7a0
                          0    -sin 7a0  cos 7a0
                                            
                                            
                         cos 7a0   0    -sin 7a0
                  R4y0 =    0      1      0   
                         sin 7a0   0     cos 7a0
                                            
                                            
                         cos 7a0  sin 7a0   0   
                  R4z0 =  -sin 7a0  cos 7a0   0   
                          0      0      1   
                                            

       㣮 7a0  ந쭮 ,  ஬
v,   ।⠢ 㫮:

                   [x' y' z' 1] = [x y z 1] R

 १ R 祭  饭  ࠧ஬ 4x4.
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                              - 4 -

       ⮨   権:

     1. ८ࠧ    ७  砫쭮  窨   
v(x400,y400,z400)  砫 न :
                                          
                            1   0   0  0  
                     T' =   0   1   0  0  
                            0   0   1  0  
                           -x400 -y400 -z400 1  
                                          
     2.   砫 न  믮    
न (   ᪮쪨 ⮢):
                                             
                          cos 7Q0 -sin 7Q0   0   
                 R4z5-10 =   sin 7Q0  cos 7Q0   0   
                           0      0      1   
                                             
                                             
                          cos 7f0   0     sin 7f0
                 R4y5-10 =    0      1      0   
                         -sin 7f0   0     cos 7f0
                                             
                                             
                          cos 7a0  sin 7a0   0   
                 R4v0  =   -sin 7a0  cos 7a0   0   
                           0      0      1   
                                             
                                             
                          cos 7f0   0    -sin 7f0
                 R4y0  =     0      1      0   
                          sin 7f0   0     cos 7f0
                                             
                                             
                          cos 7Q0  sin 7Q0   0   
                 R4z0  =   -sin 7Q0  cos 7Q0   0   
                           0      0      1   
                                             

      १ 稬 :
                                                 
                                     r4110 r4120 r4130 
              R5*0 = R4z5-10R4y5-10R4v0R4y0R4z0 =  r4210 r4220 r4230 
                                     r4310 r4320 r4330 
                                                 
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                              - 5 -

     ਬ    ࠧ 44:
                                           
                           r4110 r4120 r4130  0  
                     R400 =  r4210 r4220 r4230  0  
                           r4310 r4320 r4330  0  
                            0   0   0   1  
                                           

     3. ७  砫 न   (x400,y400,z400)):
                                         
                           1   0   0  0  
                     T =   0   1   0  0  
                           0   0   1  0  
                           x400  y400  z400 1  
                                         

             砥  饭 :

                            R = T'R400T


      ⬥,      ୮ 䨪 ६
ᯮ  ᯮᮡ ᠭ ࠭⢠:    אַ㣮
न 뢠 ६饭,   ᪨ - .
