sisäkoordinaatiston

Sisäkoordinaatiston, known in English as the inner coordinate system, is a concept used in fields such as computer graphics, robotics, and physics to describe the position and orientation of an object relative to its own local frame of reference. Instead of defining an object's location and orientation within a larger, global coordinate system, the inner coordinate system anchors these properties directly to the object itself.

This is particularly useful when an object undergoes transformations. If an object is rotated and then translated in the global coordinate system, its inner coordinate system moves and rotates with it. This simplifies calculations for operations performed on the object, such as applying further rotations or movements to specific parts of the object. For instance, in robotics, the joints and end-effectors of a robot arm are often described using their own inner coordinate systems, making it easier to control their relative movements.

The inner coordinate system can be defined by a set of basis vectors and an origin point that are fixed to the object. Any point on or within the object can then be represented by its coordinates with respect to this local frame. This allows for a more intuitive and efficient way to manage the kinematics and dynamics of complex systems. When an object's transformations are applied, the transformation matrix is often applied to the object's inner coordinate system, effectively updating its position and orientation in the global space without needing to recalculate every internal point's global coordinates from scratch.