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<center>
<center>
<math>P^{t+1}_{i} = A\cdot P^{t}_{i}</math>
<math>P^{t+1}_{i} = A\cdot P^{t}_{i}</math>
::其中，<math>P^{t}_{i}=(x^{t}_{i},y^{t}_{i},1),P^{t+1}_{i} = (x^{t+1}_{i},y^{t+1}_{i},1)</math>
::其中，<math>P^{t}_{i}=(x^{t}_{i},y^{t}_{i},1),P^{t+1}_{i} = (x^{t+1}_{i},y^{t+1}_{i},1)</math>
<math>
A = \begin{bmatrix}
A = \begin{bmatrix}
\omega cos\theta & \omega sin\theta & 0 \\
\omega cos\theta & \omega sin\theta & 0 \\