ITCS 6151/8151 
Spring 2013

HW#1: due 1/24/13.  

1.	
(a) What is the result of applying the following transform to p(1, 1, 1)? 

      T = Rot(z, 90)Trans(x, 2)Trans(y, 3)Rot(x, -90) 

(b) Calculate the inverse transformation of the T above. 

(c) If a coordinate frame is attached to that point p(1, 1, 1) with axes parallel to the reference frame, call it frame P, by premultiplying the above transform sequence, find the resulting transformation that describes the new location of frame P with respect to the reference frame. Draw the intermediate locations of frame P with respect to the reference frame. 

(d) What does each column in the matrix represent?

(e)	Recalculate the transformation of frame P by postmultiplying the above transform sequence. Draw the intermediate locations of frame P with respect to the reference frame.  

P54-56, 2.2, 2.13, 2.17, Bonus problem: 2.6.