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+# TRANSFORMATION MATRICES
+
+Homogeneous transformation matrices are used to represent the transformation between coordinate frames in a robotic system. These matrices can represent both translation and rotation in a unified manner.
+
+Understanding the fundamentals of Linear Transformations is indeed essential to understand the cocepts of Transformation Matrices, their meaning and the basis of these transformations.
+
+**LINEAR TRANSFORMATIONS**
+
+In very basic context, Linear Transformation is a function, who takes up a vector as an input and gives out an vector as output.
+
+Visualy speaking, a Transformation can be said to be **Linear**, if the following conditions are satisfied : 
+- All lines must remain line, i.e they should not get curved.
+- The Origin must be fixedin the plane, and most importantly:
+- Grid lines must remain Parallel and evenly spaced  
+
+### SOME IMP TERMS 
+
+1. **Basis Vectors** : These are the fundamental vectors that form the building blocks of a vector space and can be linearly combined to represent any vector in that space.In 3D space, we have i , j and k as our basis vectors along the X, Y and Z axes respectively.
+2. **SCALING OF VECTORS** : This is the process of stretching, squashing or sometimes reversing the direction of any given vector.
+3. **SCALAR** : These are the numbers with the relevsnce of whom the scaling occurs.
+4. **SPAN OF A VECTOR** : Span is the extent of any vector wrt its spacing in the X,Y and Z axes respectively.
+