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Jason McKesson committed 5b56093

Added mathML files for Tutorial 6.

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Files changed (8)

Documents/Positioning/AngleAxisRotationMatrix.xml

+<?xml version="1.0" encoding="utf-8"?>
+<math display="block" xmlns="http://www.w3.org/1998/Math/MathML">
+<mrow>
+  <mtable>
+    <mtr>
+      <mtd>
+        <mtable>
+          <mtr>
+            <mtd>
+              <mtext>Axis</mtext>
+              <mo>=</mo>
+              <mfenced open="(" close=")" separators=",">
+                <mrow>
+                  <mi>x</mi>
+                </mrow>
+                <mrow>
+                  <mi>y</mi>
+                </mrow>
+                <mrow>
+                  <mi>z</mi>
+                </mrow>
+              </mfenced>
+            </mtd>
+            <mtd>
+              <mtext>Angle</mtext>
+              <mo>=</mo>
+              <mi>&theta;</mi>
+            </mtd>
+          </mtr>
+          <mtr>
+            <mtd>
+              <mi>C</mi>
+              <mo>=</mo>
+              <mi>cos</mi><mo>&ApplyFunction;</mo>
+              <mfenced open="(" close=")" separators=",">
+                <mrow>
+                  <mi>&theta;</mi>
+                </mrow>
+              </mfenced>
+            </mtd>
+            <mtd>
+              <mi>S</mi>
+              <mo>=</mo>
+              <mi>sin</mi><mo>&ApplyFunction;</mo>
+              <mfenced open="(" close=")" separators=",">
+                <mrow>
+                  <mi>&theta;</mi>
+                </mrow>
+              </mfenced>
+            </mtd>
+          </mtr>
+          <mtr>
+            <mtd>
+              <mi>iC</mi>
+              <mo>=</mo>
+              <mn>1</mn>
+              <mo>-</mo>
+              <mi>cos</mi><mo>&ApplyFunction;</mo>
+              <mfenced open="(" close=")" separators=",">
+                <mrow>
+                  <mi>&theta;</mi>
+                </mrow>
+              </mfenced>
+            </mtd>
+            <mtd>
+              <mi>iS</mi>
+              <mo>=</mo>
+              <mn>1</mn>
+              <mo>-</mo>
+              <mi>sin</mi><mo>&ApplyFunction;</mo>
+              <mfenced open="(" close=")" separators=",">
+                <mrow>
+                  <mi>&theta;</mi>
+                </mrow>
+              </mfenced>
+            </mtd>
+          </mtr>
+        </mtable>
+      </mtd>
+    </mtr>
+    <mtr>
+      <mtd>
+        <mfenced open="[" close="]" separators=",">
+          <mrow>
+            <mtable>
+              <mtr>
+                <mtd>
+                  <msup>
+                          <mi>x</mi>
+                        <mn>2</mn>
+                  </msup>
+                  <mo>+</mo>
+                  <mfenced open="(" close=")" separators=",">
+                    <mrow>
+                      <mn>1</mn>
+                      <mo>-</mo>
+                      <msup>
+                              <mi>x</mi>
+                            <mn>2</mn>
+                      </msup>
+                    </mrow>
+                  </mfenced>
+                  <mi>C</mi>
+                </mtd>
+                <mtd>
+                  <mi>iC</mi>
+                  <mi>x</mi>
+                  <mi>y</mi>
+                  <mo>-</mo>
+                  <mi>z</mi>
+                  <mi>S</mi>
+                </mtd>
+                <mtd>
+                  <mi>iC</mi>
+                  <mi>x</mi>
+                  <mi>z</mi>
+                  <mo>+</mo>
+                  <mi>y</mi>
+                  <mi>S</mi>
+                </mtd>
+                <mtd>
+                  <mn>0</mn>
+                </mtd>
+              </mtr>
+              <mtr>
+                <mtd>
+                  <mi>iC</mi>
+                  <mi>x</mi>
+                  <mi>y</mi>
+                  <mo>+</mo>
+                  <mi>z</mi>
+                  <mi>S</mi>
+                </mtd>
+                <mtd>
+                  <msup>
+                          <mi>y</mi>
+                        <mn>2</mn>
+                  </msup>
+                  <mo>+</mo>
+                  <mfenced open="(" close=")" separators=",">
+                    <mrow>
+                      <mn>1</mn>
+                      <mo>-</mo>
+                      <msup>
+                              <mi>y</mi>
+                            <mn>2</mn>
+                      </msup>
+                    </mrow>
+                  </mfenced>
+                  <mi>C</mi>
+                </mtd>
+                <mtd>
+                  <mi>iC</mi>
+                  <mi>y</mi>
+                  <mi>z</mi>
+                  <mo>-</mo>
+                  <mi>x</mi>
+                  <mi>S</mi>
+                </mtd>
+                <mtd>
+                  <mn>0</mn>
+                </mtd>
+              </mtr>
+              <mtr>
+                <mtd>
+                  <mi>iC</mi>
+                  <mi>x</mi>
+                  <mi>z</mi>
+                  <mo>-</mo>
+                  <mi>y</mi>
+                  <mi>S</mi>
+                </mtd>
+                <mtd>
+                  <mi>iC</mi>
+                  <mi>y</mi>
+                  <mi>z</mi>
+                  <mo>+</mo>
+                  <mi>x</mi>
+                  <mi>S</mi>
+                </mtd>
+                <mtd>
+                  <msup>
+                          <mi>z</mi>
+                        <mn>2</mn>
+                  </msup>
+                  <mo>+</mo>
+                  <mfenced open="(" close=")" separators=",">
+                    <mrow>
+                      <mn>1</mn>
+                      <mo>-</mo>
+                      <msup>
+                              <mi>z</mi>
+                            <mn>2</mn>
+                      </msup>
+                    </mrow>
+                  </mfenced>
+                  <mi>C</mi>
+                </mtd>
+                <mtd>
+                  <mn>0</mn>
+                </mtd>
+              </mtr>
+              <mtr>
+                <mtd>
+                  <mn>0</mn>
+                </mtd>
+                <mtd>
+                  <mn>0</mn>
+                </mtd>
+                <mtd>
+                  <mn>0</mn>
+                </mtd>
+                <mtd>
+                  <mn>1</mn>
+                </mtd>
+              </mtr>
+            </mtable>
+          </mrow>
+        </mfenced>
+      </mtd>
+    </mtr>
+  </mtable>
+</mrow>
+</math>

Documents/Positioning/AxialRotationMatrices.xml

+<?xml version="1.0" encoding="utf-8"?>
+<math display="block" xmlns="http://www.w3.org/1998/Math/MathML">
+<mrow>
+  <mtable>
+    <mtr>
+      <mtd>
+        <mtext>Rotation Angle</mtext>
+        <mo>=</mo>
+        <mi>&theta;</mi>
+      </mtd>
+    </mtr>
+    <mtr>
+      <mtd>
+        <mtable>
+          <mtr>
+            <mtd>
+              <mtext>X Rotation</mtext>
+            </mtd>
+            <mtd>
+              <mfenced open="[" close="]" separators=",">
+                <mrow>
+                  <mtable>
+                    <mtr>
+                      <mtd>
+                        <mn>1</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                    </mtr>
+                    <mtr>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mi>cos</mi><mo>&ApplyFunction;</mo>
+                        <mfenced open="(" close=")" separators=",">
+                          <mrow>
+                            <mi>&theta;</mi>
+                          </mrow>
+                        </mfenced>
+                      </mtd>
+                      <mtd>
+                        <mo>-</mo>
+                        <mi>sin</mi><mo>&ApplyFunction;</mo>
+                        <mfenced open="(" close=")" separators=",">
+                          <mrow>
+                            <mi>&theta;</mi>
+                          </mrow>
+                        </mfenced>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                    </mtr>
+                    <mtr>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mi>sin</mi><mo>&ApplyFunction;</mo>
+                        <mfenced open="(" close=")" separators=",">
+                          <mrow>
+                            <mi>&theta;</mi>
+                          </mrow>
+                        </mfenced>
+                      </mtd>
+                      <mtd>
+                        <mi>cos</mi><mo>&ApplyFunction;</mo>
+                        <mfenced open="(" close=")" separators=",">
+                          <mrow>
+                            <mi>&theta;</mi>
+                          </mrow>
+                        </mfenced>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                    </mtr>
+                    <mtr>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>1</mn>
+                      </mtd>
+                    </mtr>
+                  </mtable>
+                </mrow>
+              </mfenced>
+            </mtd>
+          </mtr>
+          <mtr>
+            <mtd>
+              <mtext>Y Rotation</mtext>
+            </mtd>
+            <mtd>
+              <mfenced open="[" close="]" separators=",">
+                <mrow>
+                  <mtable>
+                    <mtr>
+                      <mtd>
+                        <mi>cos</mi><mo>&ApplyFunction;</mo>
+                        <mfenced open="(" close=")" separators=",">
+                          <mrow>
+                            <mi>&theta;</mi>
+                          </mrow>
+                        </mfenced>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mi>sin</mi><mo>&ApplyFunction;</mo>
+                        <mfenced open="(" close=")" separators=",">
+                          <mrow>
+                            <mi>&theta;</mi>
+                          </mrow>
+                        </mfenced>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                    </mtr>
+                    <mtr>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>1</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                    </mtr>
+                    <mtr>
+                      <mtd>
+                        <mo>-</mo>
+                        <mi>sin</mi><mo>&ApplyFunction;</mo>
+                        <mfenced open="(" close=")" separators=",">
+                          <mrow>
+                            <mi>&theta;</mi>
+                          </mrow>
+                        </mfenced>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mi>cos</mi><mo>&ApplyFunction;</mo>
+                        <mfenced open="(" close=")" separators=",">
+                          <mrow>
+                            <mi>&theta;</mi>
+                          </mrow>
+                        </mfenced>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                    </mtr>
+                    <mtr>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>1</mn>
+                      </mtd>
+                    </mtr>
+                  </mtable>
+                </mrow>
+              </mfenced>
+            </mtd>
+          </mtr>
+          <mtr>
+            <mtd>
+              <mtext>Z Rotation</mtext>
+            </mtd>
+            <mtd>
+              <mfenced open="[" close="]" separators=",">
+                <mrow>
+                  <mtable>
+                    <mtr>
+                      <mtd>
+                        <mi>cos</mi><mo>&ApplyFunction;</mo>
+                        <mfenced open="(" close=")" separators=",">
+                          <mrow>
+                            <mi>&theta;</mi>
+                          </mrow>
+                        </mfenced>
+                      </mtd>
+                      <mtd>
+                        <mo>-</mo>
+                        <mi>sin</mi><mo>&ApplyFunction;</mo>
+                        <mfenced open="(" close=")" separators=",">
+                          <mrow>
+                            <mi>&theta;</mi>
+                          </mrow>
+                        </mfenced>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                    </mtr>
+                    <mtr>
+                      <mtd>
+                        <mi>sin</mi><mo>&ApplyFunction;</mo>
+                        <mfenced open="(" close=")" separators=",">
+                          <mrow>
+                            <mi>&theta;</mi>
+                          </mrow>
+                        </mfenced>
+                      </mtd>
+                      <mtd>
+                        <mi>cos</mi><mo>&ApplyFunction;</mo>
+                        <mfenced open="(" close=")" separators=",">
+                          <mrow>
+                            <mi>&theta;</mi>
+                          </mrow>
+                        </mfenced>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                    </mtr>
+                    <mtr>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>1</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                    </mtr>
+                    <mtr>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>0</mn>
+                      </mtd>
+                      <mtd>
+                        <mn>1</mn>
+                      </mtd>
+                    </mtr>
+                  </mtable>
+                </mrow>
+              </mfenced>
+            </mtd>
+          </mtr>
+        </mtable>
+      </mtd>
+    </mtr>
+  </mtable>
+</mrow>
+</math>

Documents/Positioning/CoordSysMatrixMultiply.xml

+<?xml version="1.0" encoding="utf-8"?>
+<math display="block" xmlns="http://www.w3.org/1998/Math/MathML">
+<mrow>
+  <mfenced open="[" close="]" separators=",">
+    <mrow>
+      <mtable>
+        <mtr>
+          <mtd>
+            <mi>m11</mi>
+          </mtd>
+          <mtd>
+            <mi>m21</mi>
+          </mtd>
+          <mtd>
+            <mi>m31</mi>
+          </mtd>
+          <mtd>
+            <mi>m41</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m12</mi>
+          </mtd>
+          <mtd>
+            <mi>m22</mi>
+          </mtd>
+          <mtd>
+            <mi>m32</mi>
+          </mtd>
+          <mtd>
+            <mi>m42</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m13</mi>
+          </mtd>
+          <mtd>
+            <mi>m23</mi>
+          </mtd>
+          <mtd>
+            <mi>m33</mi>
+          </mtd>
+          <mtd>
+            <mi>m43</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m14</mi>
+          </mtd>
+          <mtd>
+            <mi>m24</mi>
+          </mtd>
+          <mtd>
+            <mi>m34</mi>
+          </mtd>
+          <mtd>
+            <mi>m44</mi>
+          </mtd>
+        </mtr>
+      </mtable>
+    </mrow>
+  </mfenced>
+  <mfenced open="[" close="]" separators=",">
+    <mrow>
+      <mtable>
+        <mtr>
+          <mtd>
+            <mi>x</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>y</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>z</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>w</mi>
+          </mtd>
+        </mtr>
+      </mtable>
+    </mrow>
+  </mfenced>
+  <mo>=</mo>
+  <mi>x</mi>
+  <mfenced open="[" close="]" separators=",">
+    <mrow>
+      <mtable>
+        <mtr>
+          <mtd>
+            <mi>m11</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m21</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m31</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m41</mi>
+          </mtd>
+        </mtr>
+      </mtable>
+    </mrow>
+  </mfenced>
+  <mo>+</mo>
+  <mi>y</mi>
+  <mfenced open="[" close="]" separators=",">
+    <mrow>
+      <mtable>
+        <mtr>
+          <mtd>
+            <mi>m12</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m22</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m32</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m42</mi>
+          </mtd>
+        </mtr>
+      </mtable>
+    </mrow>
+  </mfenced>
+  <mo>+</mo>
+  <mi>z</mi>
+  <mfenced open="[" close="]" separators=",">
+    <mrow>
+      <mtable>
+        <mtr>
+          <mtd>
+            <mi>m13</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m23</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m33</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m43</mi>
+          </mtd>
+        </mtr>
+      </mtable>
+    </mrow>
+  </mfenced>
+  <mo>+</mo>
+  <mi>w</mi>
+  <mfenced open="[" close="]" separators=",">
+    <mrow>
+      <mtable>
+        <mtr>
+          <mtd>
+            <mi>m14</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m24</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m34</mi>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mi>m44</mi>
+          </mtd>
+        </mtr>
+      </mtable>
+    </mrow>
+  </mfenced>
+</mrow>
+</math>

Documents/Positioning/IdentityMatrix.xml

+<?xml version="1.0" encoding="utf-8"?>
+<math display="block" xmlns="http://www.w3.org/1998/Math/MathML">
+<mrow>
+  <mfenced open="[" close="]" separators=",">
+    <mrow>
+      <mtable>
+        <mtr>
+          <mtd>
+            <mn>1</mn>
+          </mtd>
+          <mtd>
+            <mn>0</mn>
+          </mtd>
+          <mtd>
+            <mn>0</mn>
+          </mtd>
+          <mtd>
+            <mn>0</mn>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mn>0</mn>
+          </mtd>
+          <mtd>
+            <mn>1</mn>
+          </mtd>
+          <mtd>
+            <mn>0</mn>
+          </mtd>
+          <mtd>
+            <mn>0</mn>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mn>0</mn>
+          </mtd>
+          <mtd>
+            <mn>0</mn>
+          </mtd>
+          <mtd>
+            <mn>1</mn>
+          </mtd>
+          <mtd>
+            <mn>0</mn>
+          </mtd>
+        </mtr>
+        <mtr>
+          <mtd>
+            <mn>0</mn>
+          </mtd>
+          <mtd>
+            <mn>0</mn>
+          </mtd>
+          <mtd>
+            <mn>0</mn>
+          </mtd>
+          <mtd>
+            <mn>1</mn>
+          </mtd>
+        </mtr>
+      </mtable>
+    </mrow>
+  </mfenced>
+</mrow>
+</math>

Documents/Positioning/ScaleMatrix.xml

+<?xml version="1.0" encoding="utf-8"?>
+<math display="block" xmlns="http://www.w3.org/1998/Math/MathML">
+<mrow>
+  <mtable>
+    <mtr>
+      <mtd>
+        <mtext>Scale</mtext>
+        <mo>=</mo>
+        <mfenced open="(" close=")" separators=",">
+          <mrow>
+            <mi>x</mi>
+          </mrow>
+          <mrow>
+            <mi>y</mi>
+          </mrow>
+          <mrow>
+            <mi>z</mi>
+          </mrow>
+        </mfenced>
+      </mtd>
+    </mtr>
+    <mtr>
+      <mtd>
+        <mfenced open="[" close="]" separators=",">
+          <mrow>
+            <mtable>
+              <mtr>
+                <mtd>
+                  <mi>x</mi>
+                </mtd>
+                <mtd>
+                  <mn>0</mn>
+                </mtd>
+                <mtd>
+                  <mn>0</mn>
+                </mtd>
+                <mtd>
+                  <mn>0</mn>
+                </mtd>
+              </mtr>
+              <mtr>
+                <mtd>
+                  <mn>0</mn>
+                </mtd>
+                <mtd>
+                  <mi>y</mi>
+                </mtd>
+                <mtd>
+                  <mn>0</mn>
+                </mtd>
+                <mtd>
+                  <mn>0</mn>
+                </mtd>
+              </mtr>
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Documents/Positioning/TransformOrder.xml

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Documents/Positioning/TranslationMatrix.xml

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Documents/Positioning/VectorMatrixMultiplication.xml

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