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which can be viewed either as an ''active transformation'' or a ''passive transformation'' (where the above [[matrix (mathematics)|matrix]] will be [[inverse matrix|inverted]]), as described below.
==Spatial transformations in the Euclidean space
In general a spatial transformation <math>T\colon\R^3\to \R^3</math> may consist of a translation and a linear transformation. In the following, the translation will be omitted, and the linear transformation will be represented by a 3×3 matrix <math>T</math>.
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