Ytukyg

Im almost finishing part one of the course such that I know, matrices, transformations, determinants, span, basis, dimensions etc...

I think that I do not fully understand when and why I should organize the vectors in a matrix as rows and when and why as columns.
At the beginning we kind of put them as columns to check for linear independent, but then while we reached spans and basis of a space we started put the vectors as a rows to find the basis.
But at both scenarios we try to find the vectors that are dependent and to get rid out of them...
Then the coordinate vectors appeared and the definition is to organize them as a columns - I kind of think that I understand why as it's because the way to multiply matrices, so if it would be a row you wont able to multiply on the basis vectors. But then again you can turn basis vectors to be as columns and coordinate vector to be as row properties, so I got confused.

For instance is it possible to put the span vectors as col, and do elementary operations on the columns? So the internal col space wont be affected, as I understood this is the reason for find put the span vectors as rows so it won't affect the space.

So im kind of trying to understand and make a rules to my self when I solve questions, whether I should choose this or that.

Sorry for the amount of information I just want to be able yo express for you guys my knowledge, it might be weak at the moment so an explanation for a retard might be the best.

Thanks!

I do not fully understand when and why I should organize the vectors in a matrix as rows and when and why as columns.

As long as you use the same logical convention throughout, the choice is arbitrary, because
$$bbox[#ffffef, 1em]{ mathbf{M} mathbf{v} = left( mathbf{v}^T mathbf{M}^T right)^T }$$
That is, if you use column vectors, the vector is on the right and the matrix on the left in matrix-vector multiplication; if you use row vectors, the vector is on the left and the matrix transposed. The result only differs by transpose.

Thus, it is only a matter of convention; mathematically, you can use either one.

Do remember to ensure you use the same convention throughout, however. In most practical use cases, we use math to model phenomena or operations; as a language to describe the problem and the solution we would like to find. If we change the convention midway through, we break the mapping between the model and its mathematical description. Breakage ensues.

However, it is completely okay to switch conventions between problems. In fact, it is a good idea to choose the convention based on the context, and ease of notation.

For example, we do Gaussian elimination as "row reduction", because that yields nice, compact representation using our typical mathematical notation. You can do it transposed, as "column reduction", but the notation will be messier. In fact, if you do need to do column reduction, it is easier to first take the transpose of the matrix, then do row reduction (Gaussian elimination), and transpose the result!

This is a very common issue for programmers learning how to implement 3D transforms and projection using linear algebra. For simplicity and efficiency, 3D coordinates are usually described using homogenous coordinates, with an implicit fourth component always being 1. If we use column vectors, then
$$bbox{ mathbf{M} = left [ begin{matrix} x_x & y_x & z_x & t_x \ x_y & y_y & z_y & t_y \ x_z & y_z & z_z & t_z \ 0 & 0 & 0 & 1 end{matrix} right ]}, quad
bbox{ vec{v} = left [ begin{matrix} x \ y \ z \ 1 end{matrix} right ]}, quad
bbox{ mathbf{M} vec{v} = left [ begin{matrix} x_x x + y_x y + z_x z + t_x \ x_y x + y_y y + z_y z + t_y \ x_z x + y_z y + z_z z + t_z \ 1 end{matrix} right ]}$$
which can be described as a transformation and translation by
$$bbox {
hat{e}_x = left [ begin{matrix} x_x \ x_y \ x_z end{matrix} right ]
}, quad bbox {
hat{e}_y = left [ begin{matrix} y_x \ y_y \ y_z end{matrix} right ]
}, quad bbox {
hat{e}_z = left [ begin{matrix} z_x \ z_y \ z_z end{matrix} right ]
}, quad bbox {
hat{t} = left [ begin{matrix} t_x \ t_y \ t_z end{matrix} right ]
}$$
where $x$, $y$, and $z$ axes are transformed to $hat{e}_x$, $hat{e}_y$, $hat{e}_z$, and the result translated by $hat{t}$.

However, the above applies to column vectors. This convention is common in linear algebra books and tutorials, but for example OpenGL uses row vectors instead. Then,
$$bbox {
vec{v} = left [ begin{matrix} x & y & z & 1 end{matrix} right ]
}, quad bbox {
mathbf{M} = left [ begin{matrix} x_x & x_y & x_z & 0 \ y_x & y_y & y_z & 0 \ z_x & z_y & z_z & 0 \ t_x & t_y & t_z & 1 end{matrix} right ]
}, quad bbox {
vec{v} mathbf{M} = left [ begin{matrix} x_x x + y_x y + z_x z + t_x & x_y x + y_y y + z_y z + t_y & x_z x + y_z y + z_z z + t_z & 1 end{matrix} right ]
}$$
Note how these conventions only differ by the transpose:
$$bbox { begin{aligned}
hat{e}_x &= left [ begin{matrix} x_x & x_y & x_z end{matrix} right ] \
hat{e}_y &= left [ begin{matrix} y_x & y_y & y_z end{matrix} right ] \
hat{e}_z &= left [ begin{matrix} z_x & z_y & z_z end{matrix} right ] \
hat{t} &= left [ begin{matrix} t_x & t_y & t_z end{matrix} right ] \
end{aligned} }$$
The interpretation of the vectors and the matrix stays exactly the same. Only the notation differs (by transpose, and whether vector is to the left or to the right of the matrix in matrix-vector multiplication).

A further tripping point is that the upper left 3×3 part of the transformations (the rotation/reflection part) is very often a pure rotation, and therefore orthonormal:
$$bbox { begin{aligned}
hat{e}_x cdot hat{e}_x &= 1 \
hat{e}_y cdot hat{e}_y &= 1 \
hat{e}_z cdot hat{e}_z &= 1 \
hat{e}_x cdot hat{e}_y &= 0 \
hat{e}_x cdot hat{e}_z &= 0 \
hat{e}_y cdot hat{e}_z &= 0 \
end{aligned} } quad quad bbox { begin{aligned}
hat{e}_x times hat{e}_y &= hat{e}_z \
hat{e}_y times hat{e}_z &= hat{e}_x \
hat{e}_z times hat{e}_x &= hat{e}_y \
hat{e}_x times hat{e}_z &= -hat{e}_y \
hat{e}_z times hat{e}_y &= -hat{e}_x \
hat{e}_y times hat{e}_x &= -hat{e}_z \
end{aligned} }$$
In that case, the inverse of that 3×3 matrix is its transpose! In other words, if we have a pure 3×3 rotation matrix $mathbf{R}$,
$$bbox { mathbf{R} = left [ begin{matrix}
x_x & y_x & z_x \
x_y & y_y & z_y \
x_z & y_z & z_z \
end{matrix} right ] }, quad
bbox { mathbf{R}^{-1} = mathbf{R}^T = left [ begin{matrix}
x_x & x_y & x_z \
y_x & y_y & y_z \
z_x & z_y & z_z \
end{matrix} right ] }$$
Because of this, if you have a pure rotation transform, and you get the convention (of whether row or column vectors are used) wrong, you get inverse rotations of what you expected.

It is an especially annoying tripping point for programmers, because the first reaction is obviously to suspect a programming error, perhaps a sign inversion.

Even when the transform is not a pure rotation, the basis vectors tend to be orthogonal to each other (their pairwise dot products zero), in which case there is a scaling factor applied to each axis, but otherwise the same applies.