Improper rotations are coordinate transformations from a left handed into a right handed coordinate system as, e.g. a mirroring or an inversion. In MTEX the inversion is defined as the negative identical rotation
Note that this is convenient as both groupings of the operations -
and *
should give the same result
Mirroring
As a mirroring is nothing else than a rotation of 180 degree about the normal of the mirroring plane followed by a inversion, we can defined a mirroring about the axis (111) by
A convenient shortcut is the command
To check whether a rotation is improper or not you can do