Rotationer, reflections, shear and affine transformation around arbitrary point.
Slides
Exercises 8.45-10.45
Exercises in OG-opgaver: 90, 91, 95, 97, 98, 93, 96.
Lecture in NJ14 3-119, 10.45-12.00:
From rotation matrix to axis-angle representation. Quaternions and rotations.
Read: sections 5.4 and 5.5.1--5.5.7, pp. 181-193.