The final position is constructed as follows. Move from the origin along the Z axis
by a distance of r. Rotate the position around the Y axis by an angle of &. The point
is on the
X-Z
plane. Rotate the point around the Z axis by the angle 0. The point is
now in its final position.
The 0 angle has a range of 0 to -rr radians (0 to 180 degrees). The & angle has a
range of 0 to "rr/2 radians (0 to 90 degrees).
2.5 CONVERSIONS
This section defines how to convert points between the various representations.
2.5.1
CARTESIAN TO HOMOGENEOUS
Any point ...
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