Quaternions and spatial rotationUnit quaternions, known as versors, provide a convenient mathematical notation for representing spatial orientations and rotations of elements in three dimensional space. Specifically, they encode information about an axis-angle rotation about an arbitrary axis. Rotation and orientation quaternions have applications in computer graphics, computer vision, robotics, navigation, molecular dynamics, flight dynamics, orbital mechanics of satellites, and crystallographic texture analysis.
Recursion (computer science)In computer science, recursion is a method of solving a computational problem where the solution depends on solutions to smaller instances of the same problem. Recursion solves such recursive problems by using functions that call themselves from within their own code. The approach can be applied to many types of problems, and recursion is one of the central ideas of computer science. The power of recursion evidently lies in the possibility of defining an infinite set of objects by a finite statement.
Rodrigues' rotation formulaIn 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. By extension, this can be used to transform all three basis vectors to compute a rotation matrix in SO(3), the group of all rotation matrices, from an axis–angle representation. In other words, the Rodrigues' formula provides an algorithm to compute the exponential map from so(3), the Lie algebra of SO(3), to SO(3) without actually computing the full matrix exponential.
FactorizationIn mathematics, factorization (or factorisation, see English spelling differences) or factoring consists of writing a number or another mathematical object as a product of several factors, usually smaller or simpler objects of the same kind. For example, 3 × 5 is an integer factorization of 15, and (x – 2)(x + 2) is a polynomial factorization of x2 – 4. Factorization is not usually considered meaningful within number systems possessing division, such as the real or complex numbers, since any can be trivially written as whenever is not zero.
Lattice (order)A lattice is an abstract structure studied in the mathematical subdisciplines of order theory and abstract algebra. It consists of a partially ordered set in which every pair of elements has a unique supremum (also called a least upper bound or join) and a unique infimum (also called a greatest lower bound or meet). An example is given by the power set of a set, partially ordered by inclusion, for which the supremum is the union and the infimum is the intersection.
Square root of a matrixIn mathematics, the square root of a matrix extends the notion of square root from numbers to matrices. A matrix B is said to be a square root of A if the matrix product BB is equal to A. Some authors use the name square root or the notation A1/2 only for the specific case when A is positive semidefinite, to denote the unique matrix B that is positive semidefinite and such that BB = BTB = A (for real-valued matrices, where BT is the transpose of B).
Square numberIn mathematics, a square number or perfect square is an integer that is the square of an integer; in other words, it is the product of some integer with itself. For example, 9 is a square number, since it equals 32 and can be written as 3 × 3. The usual notation for the square of a number n is not the product n × n, but the equivalent exponentiation n2, usually pronounced as "n squared". The name square number comes from the name of the shape. The unit of area is defined as the area of a unit square (1 × 1).
Distributive latticeIn mathematics, a distributive lattice is a lattice in which the operations of join and meet distribute over each other. The prototypical examples of such structures are collections of sets for which the lattice operations can be given by set union and intersection. Indeed, these lattices of sets describe the scenery completely: every distributive lattice is—up to isomorphism—given as such a lattice of sets. As in the case of arbitrary lattices, one can choose to consider a distributive lattice L either as a structure of order theory or of universal algebra.
Multiplication algorithmA multiplication algorithm is an algorithm (or method) to multiply two numbers. Depending on the size of the numbers, different algorithms are more efficient than others. Efficient multiplication algorithms have existed since the advent of the decimal system. If a positional numeral system is used, a natural way of multiplying numbers is taught in schools as long multiplication, sometimes called grade-school multiplication, sometimes called the Standard Algorithm: multiply the multiplicand by each digit of the multiplier and then add up all the properly shifted results.
Cross-validation (statistics)Cross-validation, sometimes called rotation estimation or out-of-sample testing, is any of various similar model validation techniques for assessing how the results of a statistical analysis will generalize to an independent data set. Cross-validation is a resampling method that uses different portions of the data to test and train a model on different iterations. It is mainly used in settings where the goal is prediction, and one wants to estimate how accurately a predictive model will perform in practice.
