<Dd> T (v) = R v + t </Dd> <P> where R = R (i.e., R is an orthogonal transformation), and t is a vector giving the translation of the origin . </P> <P> A proper rigid transformation has, in addition, </P> <Dl> <Dd> det (R) = 1 </Dd> </Dl>

Explain how the rigid motion does the mapping