Woho! I produced the
simply by multiplying from both sides with and .
So what's left is to show that B is symmetric when A is... Suggestions on that?
Assume , where is the rotation matrix (below) with angle and position . Show that is symmetric when is, and that we then also have: .
The rotation matrix:
where (for ) and else .
I don't know where to start!
Help is greatly appreciated!