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Math Help - rotation matrix for changed body coordinate system

  1. #1
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    rotation matrix for changed body coordinate system

    I need help to calculate the following

    I have 2 bodies with a body coordinate coordinate system (A and B)
    The matrix R describes the rotation between body A and B. (in this case calculated from an xyz euler angle sequence)
    where B = R*A

    Now i have defined another set of body coordinate system (A' and B'), defined as a transform from the original body coordiante system (T_a and T_b). where A' = T_a * A and B' = T_b * B

    I am looking for the matrix that describes the rotation R in terms of A' and B'.
    What is the equation i need to use?
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  2. #2
    Super Member Rebesques's Avatar
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    Re: rotation matrix for changed body coordinate system

    b'=t_b(r t_a^{-1}(a'))
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