Orientation matrix

Saeed Naamnh

Hi 

 

Do you know why the matrix is not symmetric ? 

And why the some of the diagonal values are minus (-)

RWood

Hi,

There's no constraint on a 3x3 rotation matrix that forces the components to be positive or that those terms you highlight must be equal:

https://en.wikipedia.org/wiki/Rotation_matrix

Under the General Rotation section you can see the format for an arbitrary rotation consisting of a rotation around the 3 principle axes.

Richard