cosy-Sin y P(x,y) C(y)= sin y coS y 0 (x) 3 x'(rcos(9+u)cosy -siny(x y'rsin(9+v))siny cosy/y 2)SO(3)群的群元也可用三个欧拉角αβ,γ来标记.SO(3)转 动元素由相继三个转动变换生成:(1)绕z轴转α角,O≤α<2π; (2绕新的y轴(y轴)转β角,O≤阝≤π;(3绕新的z轴(z轴)转γ 角,0≤y<2兀.即 R(a,B,r)=C(rCu (B)c-(a C(a)C (rc(aC(a)C, (B)C(a).(a) =C:(a)C,(B)C()C,(-B)C(=a)C:(a)C,(C(-a)C(a) C(aC, (B)C-rcos sin 0 ( ) sin cos 0 0 0 1 Cz        −   =         ( , ) P x y P x y '( ', ') ' cos( ) cos sin ' sin( ) sin cos x r x y r y                + −        = =        + 2) SO(3)群的群元也可用三个欧拉角,,来标记. SO(3)转 动元素由相继三个转动变换生成: (1) 绕z轴转角,0<2; (2)绕新的y轴(y’轴)转角, 0; (3)绕新的z轴(z’’轴)转 角, 0 <2. 即 '' ' ' ( , , ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) z y z z z z z y z z z y z y z z y z z z y z R C C C C C C C C C C C C C C C C C C C C C C                          = = − − = − − − =