The former are sometimes referred to as affine rotations (although the term is misleading), whereas the latter are vector rotations. Rotations of (affine) spaces of points and of respective vector spaces are not always clearly distinguished. This meaning is somehow inverse to the meaning in the group theory. The axis (where present) and the plane of a rotation are orthogonal.Ī representation of rotations is a particular formalism, either algebraic or geometric, used to parametrize a rotation map. Unlike the axis, its points are not fixed themselves.
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