next up previous
Next: 3.2 Lie Algebra Up: 3 SO(2) Previous: 3 SO(2)

3.1 Description

$ \mathrm{SO}(2)$ is the group of rotations in the 2D plane. It has one degree of freedom: angle of rotation. The group is commutative. The inverse is given by the transpose:


$\displaystyle X$ $\displaystyle \in$ $\displaystyle \mathrm{SO}(2)\subset\mathbb{R}^{2\times2}$ (36)
$\displaystyle X^{-1}$ $\displaystyle =$ $\displaystyle X^{T}$ (37)


Ethan Eade 2012-02-16