Rodrigues' rotation formula, named after Olinde Rodrigues, is an efficient algorithm in the theory of three dimensional rotation for rotating a vector in space given an axis and an angle of rotation. It can be used to transform a set of basis vectors in order to compute a rotation matrix in SO(3), and it relates to the exponential map used in Lie theory. Its attribution is disputed: the formula is variously credited to Leonhard Euler, to Olinde Rodrigues, or to a combination of the two, and a detailed 1989 historical analysis concluded it should properly be attributed to Euler and called Euler's finite rotation formula, though some scholars still treat it as a related but distinct variant, the Euler-Rodrigues formula, crediting both mathematicians. This description is adapted from Wikipedia contributors under CC BY-SA 4.0; changes were made. https://creativecommons.org/licenses/by-sa/4.0/
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1. Rodrigues' Rotation Formula (Wikipedia)
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In the theory of three-dimensional rotation, Rodrigues' rotation formula, named after Olinde Rodrigues, is an efficient algorithm for rotating a vector in space, given an axis and angle of rotation.
Wolfram MathWorld: Rodrigues' Rotation Formula
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Geometry Transformations
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