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Feb25-12, 12:17 AM
P: 4,573
Hey Renoald and welcome to the forums.

One problem that you have is that a rotation matrix preserves the dimension and is a basis which means that the matrix has to be square (even if some values don't contribute in the form of zero entries).

I think it would be helpful if you gave the exact dimensions of your matrices for X and X0. If these are vectors in a Euclidean space, then this is a very well understood problem, but if they are matrices then we will need a more general result.

So lets say X is a matrix with 3 rows and 2 columns, X will be a 3x2 matrix.