translation (geometry)

In Euclidean geometry, a translation, or translation operator, is an affine transformation of Euclidean space which moves every point by a fixed distance in the same direction. It can also be interpreted as the addition of a constant vector to every point, or as shifting the origin of the coordinate system. In other words, if v is a fixed vector, then the translation T_v will work as T_v(p) = p + v. If T is a translation, then the image of a subset A under the function T is the translate of A by T. The translate of A by T_v is often written A + v. Each translation is an isometry.

Matrix representation

Since a translation is an affine transformation, but not a linear transformation, homogeneous coordinates are normally used to represent the translation operator by a matrix. Thus we write the 3-dimensional vector w = (w_x, w_y, w_z) using 4 homogeneous coordinates as w = (w_x, w_y, w_z, 1). To translate an object by a vector v, each homogeneous vector p (written in homogeneous coordinates) would need to be multiplied by this translation matrix:

T_{\mathbf{v}} =

\begin{bmatrix} 1 & 0 & 0 & v_x \\ 0 & 1 & 0 & v_y \\ 0 & 0 & 1 & v_z \\ 0 & 0 & 0 & 1 \end{bmatrix} . \! As shown below, the multiplication will give the expected result:

T_{\mathbf{v}} \mathbf{p} =

\begin{bmatrix} 1 & 0 & 0 & v_x \\ 0 & 1 & 0 & v_y \\ 0 & 0 & 1 & v_z \\ 0 & 0 & 0 & 1 \end{bmatrix} \begin{bmatrix} p_x \\ p_y \\ p_z \\ 1 \end{bmatrix} = \begin{bmatrix} p_x + v_x \\ p_y + v_y \\ p_z + v_z \\ 1 \end{bmatrix} = \mathbf{p} + \mathbf{v} . \! The inverse of a translation matrix can be obtained by reversing the direction of the vector:

T^{-1}_{\mathbf{v}} = T_{-\mathbf{v}} . \!

Similarly, the product of translation matrices is given by adding the vectors:

T_{\mathbf{u}}T_{\mathbf{v}} = T_{\mathbf{u}+\mathbf{v}} . \!

Because addition of vectors is commutative, multiplication of translation matrices is therefore also commutative (unlike multiplication of arbitrary matrices).

Translation (Geometry)

Matrix representation

See also