Rigid-body, or Euclidean transformations
Preserve the shape of the objects that they act on
Includes rotations and translations (just as in two dimensions)
First we begin with a representation for 3-D points. We will consider points
as column vectors. Thus, a typical point with coordinates (x, y, z) is represented
or... as ...
This is not the only possible representation. You may
encounter textbooks that consider points as row vectors. What is most important
is that you use a consistent representation.