Practical Linear Algebra: A Geometry Toolbox Fourth Edition Chapter 4: Changing Shapes: Linear Maps in 2D Gerald Farin & Dianne Hansford A K Peters/CRC Press www.farinhansford.com/books/pla c 2021 Farin & Hansford Practical Linear Algebra 1 / 55 Outline 1 Introduction to Linear Maps in 2D 2 Skew Target Boxes 3 The Matrix Form 4 Linear Spaces 5 Scalings 6 Reflections 7 Rotations 8 Shears 9 Projections 10 Application: Free-form Deformations 11 Areas and Linear Maps: Determinants 12 Composing Linear Maps 13 More on Matrix Multiplication 14 Matrix Arithmetic Rules 15 WYSK Farin & Hansford Practical Linear Algebra 2 / 55 Introduction to Linear Maps in 2D 2D linear maps (rotation and scaling) applied repeatedly to a square Geometry has two parts 1 description of the objects 2 how these objects can be changed (transformed) Transformations also called maps May be described using the tools of matrix operations: linear maps Matrices first introduced by H. Grassmann in 1844 Became basis of linear algebra Farin & Hansford Practical Linear Algebra 3 / 55 Skew Target Boxes Revisit unit square to a rectangular target box mapping Examine part of mapping that is a linear map Unit square defined by e1 and e2 Vector v in [e1, e2]-system defined as v = v1e1 + v2e2 v is now mapped to a vector v′ by ′ v = v1a1 + v2a2 Duplicates the [e1, e2]-geometry in the [a1, a2]-system This is a change of basis The two equations on this page are linear combinations Farin & Hansford Practical Linear Algebra 4 / 55 Skew Target Boxes Example: [a1, a2]-coordinate system: origin and 2 2 a1 = a2 = − 1 4 1/2 Given v = in [e , e ]-system 1 1 2 ′ 1 2 2 1 v = + 1 − = − 2 × 1 × 4 9/2 1/2 v′ has components with 1 respect to [a1, a2]-system ′ 1 v has components − with 9/2 respect to [e1, e2]-system Farin & Hansford Practical Linear Algebra 5 / 55 The Matrix Form Components of a subscripted vector written with a double subscript a1,1 a1 = a2,1 The vector component index precedes the vector subscript ′ Components for v in [e1, e2]-system expressed as 1 1 2 2 − = + 1 − 9/2 2 × 1 × 4 Write this linear combination in matrix notation: 1 2 2 1/2 − = − 9/2 1 4 1 2 2 matrix: 2 rows and 2 columns defined as vectors a and a × 1 2 Farin & Hansford Practical Linear Algebra 6 / 55 The Matrix Form In general: ′ a a v v = 1,1 1,2 1 = Av a2,1 a2,2v2 A is a 2 2 matrix × Elements a1,1 and a2,2 form the diagonal v′ is the image of v v is the pre-image of v′ v′ is in the range of the map v is in the domain of the map Farin & Hansford Practical Linear Algebra 7 / 55 The Matrix Form Product Av has two components: v1a1,1 + v2a1,2 Av = v1a1 + v2a2 = v a , + v a , 1 2 1 2 2 2 Each component obtained as a dot product between the corresponding row of the matrix and v Example: 0 1 1 0 1+ 1 4 4 − − = ×− − × = − 2 4 4 2 1 + 4 4 14 ×− × Column space of A: all v′ formed as linear combination of the columns of A Farin & Hansford Practical Linear Algebra 8 / 55 The Matrix Form [e1, e2]-system can be interpreted as a matrix with columns e1 and e2: 1 0 [e , e ] 2 2 identity matrix 1 2 ≡ 0 1 × Falk’s scheme – A neat way to write matrix-times-vector: 2 1/2 2 2 3 − 1 4 4 Here: (2 2)(2 1) results in (2 1) vector × × × Interior dimensions (both 2) must be identical Outer dimensions (2 and 1) indicate the resulting vector or matrix size Farin & Hansford Practical Linear Algebra 9 / 55 The Matrix Form Matrix addition: a a b b a + b a + b 1,1 1,2 + 1,1 1,2 = 1,1 1,1 1,2 1,2 a2,1 a2,2 b2,1 b2,2 a2,1 + b2,1 a2,2 + b2,2 Matrices must be of the same dimensions Distributive law Av + Bv = (A + B)v Farin & Hansford Practical Linear Algebra 10 / 55 The Matrix Form Transpose matrix denoted by AT Formed by interchanging the rows and columns of A: 1 2 T 1 3 A = − then A = 3 5 2 5 − May think of a vector v as a matrix: 1 T v = − then v = 1 4 4 − Identities: T T T [A + B] = A + B TT T T A = A and [cA] = cA Farin & Hansford Practical Linear Algebra 11 / 55 The Matrix Form Symmetric matrix: A = AT Example: 5 8 8 1 No restrictions on diagonal elements All other elements equal to element about the diagonal with reversed indices For a 2 2 matrix: a , = a , × 2 1 1 2 2 2 zero matrix: × 0 0 0 0 Farin & Hansford Practical Linear Algebra 12 / 55 The Matrix Form Matrix rank: number of linearly independent column (row) vectors For 2 2 matrix columns define an [a , a ]-system × 1 2 Full rank = 2: a1 and a2 are linearly independent Rank deficient: matrix that does not have full rank If a1 and a2 are linearly dependent then matrix has rank 1 Also called a singular matrix Only matrix with rank zero is zero matrix Rank of A and AT are equal. Farin & Hansford Practical Linear Algebra 13 / 55 Linear Spaces 2D linear maps act on vectors in 2D linear spaces Also known as 2D vector spaces Standard operations in a linear space are addition and scalar multiplication of vectors ′ v = v1a1 + v2a2 linearity property Linear maps – matrices – characterized by preservation of linear combinations: A(au + bv)= aAu + bAv. Let’s break this statement down into the two basic elements: scalar multiplication and addition Farin & Hansford Practical Linear Algebra 14 / 55 Linear Spaces Matrices preserve scalings Example: 1 1/2 A = − 0 1/2 − 1 1 u = v = − 2 4 A(cu)= cAu Let c = 2 1 1/2 1 − 2 0 1/2 × 2 − 1 1/2 1 0 = 2 − = × 0 1/22 2 − − Farin & Hansford Practical Linear Algebra 15 / 55 Linear Spaces Matrices preserve sums (distributive law): A(u + v)= Au + Av Farin & Hansford Practical Linear Algebra 16 / 55 Linear Spaces Matrices preserve linear combinations A(3u + 2v) 1 1/2 1 1 = − 3 + 2 − 0 1/2 2 4 − 6 = 3Au + 2Av 7 − 1 1/2 1 = 3 − 0 1/22 − 1 1/2 1 +2 − − 0 1/2 4 − 6 = 7 − Farin & Hansford Practical Linear Algebra 17 / 55 Scalings Uniform scaling: ′ 1/2 0 v /2 v = v = 1 0 1/2 v2/2 Farin & Hansford Practical Linear Algebra 18 / 55 Scalings s 0 1/2 0 General scaling: v′ = 1,1 v Example: v′ = v 0 s2,2 0 2 Scaling affects the area of the object: — Scale by s1,1 in e1-direction, then area changes by a factor s1,1 — Similarly for s2,2 and e2-direction Total effect: factor of s1,1s2,2 Action of matrix: action ellipse Farin & Hansford Practical Linear Algebra 19 / 55 Reflections Special scaling: ′ 1 0 v v = v = 1 0 1 v − − 2 v reflected about e1-axis or the line x1 = 0 Reflection maps each vector about a line through the origin Farin & Hansford Practical Linear Algebra 20 / 55 Reflections Reflection about line x1 = x2: ′ 0 1 v v = v = 2 1 0 v1 Reflections change the sign of the area due to a change in orientation — Rotate e1 into e2: move in a counterclockwise — Rotate a1 into a2: move in a clockwise Farin & Hansford Practical Linear Algebra 21 / 55 Reflections Reflection? ′ 1 0 v = − v 0 1 − Check a1 rotate to a2 orientation: counterclockwise — same as e1, e2 orientation This is a 180◦ rotation Action ellipse: circle Farin & Hansford Practical Linear Algebra 22 / 55 Rotations Rotate e1 and e2 around the origin to ′ cos α ′ sin α e = and e = − 1 sin α 2 cos α These are the column vectors of the rotation matrix cos α sin α R = − sin α cos α Farin & Hansford Practical Linear Algebra 23 / 55 Rotations Rotation matrix for α = 45◦: √2/2 √2/2 R = − √2/2 √2/2 Rotations: special class of transformations called rigid body motions Action ellipse: circle Rotations do not change areas Farin & Hansford Practical Linear Algebra 24 / 55 Shears Map a rectangle to a parallelogram Example: 0 ′ d v = v = 1 1 −→ 1 A shear in matrix form: d 1 d 0 1 = 1 1 0 1 1 Application: generate italic fonts from standard ones. Farin & Hansford Practical Linear Algebra 25 / 55 Shears Shear along the e1-axis applied to an arbitrary vector: ′ 1 d v v + v d v = 1 1 = 1 2 1 0 1 v2 v2 Farin & Hansford Practical Linear Algebra 26 / 55 Shears Shear along the e2-axis: ′ 1 0 v v v = 1 = 1 d2 1v2 v1d2 + v2 Farin & Hansford Practical Linear Algebra 27 / 55 Shears What is the shear that achieves v ′ v v = 1 v = 1 ? v2 −→ 0 A shear parallel to the e2-axis: ′ v 1 0 v v = 1 = 1 0 v /v 1v − 2 1 2 Shears do not change areas (See rectangle to parallelogram sketch: both have the same base and the same height) Farin & Hansford Practical Linear Algebra 28 / 55 Projections Parallel projections: all vectors are projected in a parallel direction 2D: all vectors are projected onto a line Example: 3 1 0 3 = 0 0 01 Orthogonal projection: angle of incidence with the line is 90◦ Otherwise: oblique projection Perspective projection: projection direction is not constant — not a linear map Farin & Hansford Practical Linear Algebra 29 / 55 Projections Orthogonal projections important for best approximation Oblique projections important to applications in fields such as computer graphics and architecture Main property of a projection: reduces dimensionality Action ellipse: straight line segment which is covered twice Farin & Hansford Practical Linear Algebra 30 / 55 Projections Construction: Choose unit vector u to define a line onto which to project Projections of e1 and e2 are column vectors of matrix A u e1 a1 = · u = u1u u 2 T A = u1u u2u = uu uk ke a = · 2 u = u u 2 u 2 2 k k u Example: u = [cos 30◦ sin 30◦]T Farin & Hansford Practical Linear Algebra 31 / 55 Projections T Projection matrix A = u1u u2u = uu Columns of A linearly dependent rank one ⇒ Map reduces dimensionality area after map is zero ⇒ Projection matrix is idempotent: A = AA Geometrically: once a vector projected onto a line, application of same projection leaves result unchanged 1/√2 0.5 0.5 Example: u = then A = 1/√2 0.5 0.5 Farin & Hansford Practical Linear Algebra 32 / 55 Projections Action of projection matrix on