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Linear Transformations
Linear Transformations 1 / 21
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Linear Transformations
A function T from Rn → Rm is called a linear transformation if thereexists an m × n matrix A such that
T (~x) = A~x
for all ~x ∈ Rn satisfying the following:
T (~v + ~w) = T (~v) + T (~w), ∀~v , ~w ∈ Rn
T (c~v) = cT (~v), ∀~v ∈ Rn, c ∈ R
Linear transformations preserve lines, unlike nonlinear transformations thatmay transform a line segment into a parabolic curve, or ellipse
Linear Transformations 2 / 21
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Linear Transformations
A function T from Rn → Rm is called a linear transformation if thereexists an m × n matrix A such that
T (~x) = A~x
for all ~x ∈ Rn satisfying the following:
T (~v + ~w) = T (~v) + T (~w), ∀~v , ~w ∈ Rn
T (c~v) = cT (~v), ∀~v ∈ Rn, c ∈ R
Linear transformations preserve lines, unlike nonlinear transformations thatmay transform a line segment into a parabolic curve, or ellipse
Linear Transformations 2 / 21
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Linear Transformations
A function T from Rn → Rm is called a linear transformation if thereexists an m × n matrix A such that
T (~x) = A~x
for all ~x ∈ Rn satisfying the following:
T (~v + ~w) = T (~v) + T (~w), ∀~v , ~w ∈ Rn
T (c~v) = cT (~v), ∀~v ∈ Rn, c ∈ R
Linear transformations preserve lines, unlike nonlinear transformations thatmay transform a line segment into a parabolic curve, or ellipse
Linear Transformations 2 / 21
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Linear Transformations in 2D
We focus on T from R2 → R2
A is a 2× 2 matrix and ~v is a 2× 1 column vector.
Special examples of linear transformations include:1 scaling transformations2 rotations3 translations
Linear Transformations 3 / 21
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Linear Transformations in 2D
We focus on T from R2 → R2
A is a 2× 2 matrix and ~v is a 2× 1 column vector.
Special examples of linear transformations include:1 scaling transformations2 rotations3 translations
Linear Transformations 3 / 21
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Linear Transformations in 2D
We focus on T from R2 → R2
A is a 2× 2 matrix and ~v is a 2× 1 column vector.
Special examples of linear transformations include:1 scaling transformations2 rotations3 translations
Linear Transformations 3 / 21
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Scaling Transformations
T : R2 → R2 defined by T (~v) = c~v for c ∈ (0,∞)
c > 1 - dilation by a factor of c
c < 1 - contraction by a factor of c
In matrix form
T([
xy
])=
[c 00 c
] [xy
]=
[cxcy
]
Linear Transformations 4 / 21
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Scaling Transformations
-10 -8 -6 -4 -2 0 2 4 6 8 10
-10
-8
-6
-4
-2
0
2
4
6
8
10Scaling
Linear Transformations 5 / 21
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Rotations
Rotations by an angle θ about the origin where the rotation is measuredfrom the positive x-axis in an anticlockwise direction
In matrix form, the linear transformation can be represented as:
T([
xy
])=
[cos θ − sin θsin θ cos θ
] [xy
]
Linear Transformations 6 / 21
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Reflections
Reflections about a line L through the origin, e.g.
Reflecting a point in R2 about the y -axis:
T([
xy
])=
[−xy
]in matrix form
T([
xy
])=
[−1 00 1
] [xy
]In general, the transformation corresponding to a reflection about theline L making an angle θ with the positive x − axis is given by
A =
[cos 2θ sin 2θsin 2θ − cos 2θ
]=
[a bb −a
], a2 + b2 = 1
Linear Transformations 7 / 21
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Reflections
Reflections about a line L through the origin, e.g.
Reflecting a point in R2 about the y -axis:
T([
xy
])=
[−xy
]in matrix form
T([
xy
])=
[−1 00 1
] [xy
]
In general, the transformation corresponding to a reflection about theline L making an angle θ with the positive x − axis is given by
A =
[cos 2θ sin 2θsin 2θ − cos 2θ
]=
[a bb −a
], a2 + b2 = 1
Linear Transformations 7 / 21
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Reflections
Reflections about a line L through the origin, e.g.
Reflecting a point in R2 about the y -axis:
T([
xy
])=
[−xy
]in matrix form
T([
xy
])=
[−1 00 1
] [xy
]In general, the transformation corresponding to a reflection about theline L making an angle θ with the positive x − axis is given by
A =
[cos 2θ sin 2θsin 2θ − cos 2θ
]=
[a bb −a
], a2 + b2 = 1
Linear Transformations 7 / 21
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Reflection
-3 -2 -1 0 1 2 3
-3
-2
-1
0
1
2
3
Linear Transformations 8 / 21
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Shear
y -shear
T =
[1 0a 1
]x-shear
T =
[1 b0 1
]
Linear Transformations 9 / 21
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x-shear
T =
[1 2.50 1
]
-10 -5 0 5 10
-10
-8
-6
-4
-2
0
2
4
6
8
10Shear
Linear Transformations 10 / 21
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Compositions of transformations
Given two linear transformations T and S both R2 → R2 with
T (~v) = A~v and S(~v) = B~v ∀~v ∈ R2
then the composition of the transformation T and S , T ◦ S AB(T ◦ S
)(~v) = T
(S(~v
))= T
(B~v
)= AB~v
Linear Transformations 11 / 21
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Compositions of transformations
Rotation θ = π8 then reflection about y = 0, then dilation by a factor of 2.
-6 -4 -2 0 2 4 6
-6
-4
-2
0
2
4
6
Linear Transformations 12 / 21
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Orthogonal transformations
A linear transformation T : Rn → Rn is called orthogonal if itpreserves the length of vectors:
||T (~v)|| = ||~v ||, ∀~v ∈ Rn
If T (~v) = A~v is an orthogonal transformation, A is an orthogonalmatrix
1 ||A~v || = ||~v ||, ∀~v ∈ Rn
2 The columns of A form an orthonormal basis of Rn
3 ATA = I n4 A−1 = AT
Orthogonal transformations also preserve dot products of vectors andthus angles are preserved
Linear Transformations 13 / 21
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Orthogonal transformations
A linear transformation T : Rn → Rn is called orthogonal if itpreserves the length of vectors:
||T (~v)|| = ||~v ||, ∀~v ∈ Rn
If T (~v) = A~v is an orthogonal transformation, A is an orthogonalmatrix
1 ||A~v || = ||~v ||, ∀~v ∈ Rn
2 The columns of A form an orthonormal basis of Rn
3 ATA = I n4 A−1 = AT
Orthogonal transformations also preserve dot products of vectors andthus angles are preserved
Linear Transformations 13 / 21
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Orthogonal transformations
A linear transformation T : Rn → Rn is called orthogonal if itpreserves the length of vectors:
||T (~v)|| = ||~v ||, ∀~v ∈ Rn
If T (~v) = A~v is an orthogonal transformation, A is an orthogonalmatrix
1 ||A~v || = ||~v ||, ∀~v ∈ Rn
2 The columns of A form an orthonormal basis of Rn
3 ATA = I n4 A−1 = AT
Orthogonal transformations also preserve dot products of vectors andthus angles are preserved
Linear Transformations 13 / 21
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Random Orthogonal transformations
T= orth(rand(2,2))
-3 -2 -1 0 1 2 3
-3
-2
-1
0
1
2
3Orthorgonal Transformation
Linear Transformations 14 / 21
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Random Transformation
M =
[0.8212 0.04300.0154 0.1690
]
-3 -2 -1 0 1 2 3
-3
-2
-1
0
1
2
3Random Transformation
Can this transformation be undone?
Yes! det(M)= 0.1381
Linear Transformations 15 / 21
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Random Transformation
M =
[0.8212 0.04300.0154 0.1690
]
-3 -2 -1 0 1 2 3
-3
-2
-1
0
1
2
3Random Transformation
Can this transformation be undone?Yes! det(M)= 0.1381
Linear Transformations 15 / 21
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Random non-invertible Transformation
M =
[0.9884 0.34090.0000 0.0000
]
-3 -2 -1 0 1 2 3
-3
-2
-1
0
1
2
3Random Singular Transformation
Linear Transformations 16 / 21
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Affine transformations
These are mappings of the form
T (~v) = A~v + ~b
i.e. affine transformations are composed of a linear transformation (A~v)then shifted in the direction ~b
Affine transformations preserve collinearity and ratios of distances.
Translations, dilations, contractions,reflections and rotations are allexamples of affine transformations.
Linear Transformations 17 / 21
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Affine transformations
These are mappings of the form
T (~v) = A~v + ~b
i.e. affine transformations are composed of a linear transformation (A~v)then shifted in the direction ~b
Affine transformations preserve collinearity and ratios of distances.
Translations, dilations, contractions,reflections and rotations are allexamples of affine transformations.
Linear Transformations 17 / 21
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Affine transformations
T =
[12 00 −1
2
]+
[34
]
-6 -4 -2 0 2 4 6
-6
-4
-2
0
2
4
6Affine Transformations
Linear Transformations 18 / 21
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Affine transformations and fractals
Consider four different linear transformations on points ~v = (x , y) starting at
(0, 0) and one linear transformation performed randomly with different
probabilities85% of the time:
T 1 = A1~v + ~b1 =
[0.85 0.04−0.04 0.85
]~v +
[0
1.6
]7% of the time:
T 2 = A2~v + ~b2 =
[0.20 −0.260.23 0.22
]~v +
[0
1.6
]7% of the time:
T 3 = A3~v + ~b3 =
[−0.15 0.280.26 0.24
]~v +
[0
0.44
]1% of the time:
T 4 = A4~v =
[0 00 0.16
]~v
Linear Transformations 19 / 21
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Exercise: Affine transformations and fractals -Implementation notes
Use randsample(4,1,true,[0.85 0.07 0.07 0.01]) to generaterandom integers with weights
Starting with the origin apply a transformation based on the outcomefrom randsample, (a switch statement may be useful here).
plot each point after applying the transformation - use drawnow tovisualize the points as they are computed.
Linear Transformations 20 / 21
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Affine transformations and fractals
Linear Transformations 21 / 21