draw the world in frame
A
B
point P — in frame A
x
3
y
4
z
3
frame B — origin o
B
A
x
3
y
-2
z
1
frame B — rotation R
B
A
roll
0°
pitch
0°
yaw
35°
project r
P
onto
A:
x
y
z
B:
x
y
z
coordinate box
A
B
ground grid
show o
B
A
reset view
drag · shift-drag pans · scroll
\(\v{r}_{P}^{A} =\)
3
4
3
\(\v{r}_{P}^{B} =\)
0
0
0