errata
If you find errors in the text or figures, please report them to Dianne Hansford.
We will give you credit unless you request not to be named.
Chapter 1  Descartes' Discovery: 2D Lines  Posted 

page 12  Exercise 4: (min_1, min_2) should be (min_1, min_2, min_3) and (max_1, max_2) should be (max_1, max_2, max_3) Found by Jeff Griffin 
12/12/2013 
page 13  Exercise 7: (v_1, v_2) should be (1/2,0).  02/03/17 
Chapter 3  Lining Up: 2D Lines  Posted 

page 53  Line after (3.13): i = l(that) should be i = l_1(that)  09/06/2013 
Chapter 5  2 x 2 Linear Systems  Posted 

page 114  Example 5.9: Typesetting error in the line starting with A = V'V^{1}. The matrix V' is incorrect in this line. It should be [v'_1 v'_2], thus the first column is [1 1]^T and the second column is [1 1]^T Found by Tim at Univ of Colorado at Colorado Springs 
09/14/2015 
Chapter 7  Eigen Things  Posted 

page 144  Example 7.3: All references to r_1 should be r_2. This includes r_2,1 and r_1,1, which should be r_2,2 and r_1,2, respectively.  09/06/2013 
Chapter 8  3D Geometry  Posted 

page 175  Exercise 18: Let's be more specific. Let u_1 be the projection of w into the subspace defined by v  09/06/2013 
Chapter 9  Linear Maps in 3D  Posted 

page 185  First equation on page: v' = Sv should be v' = S_1v. On the next line, "An a_i,j element", is refering to an element of S_1 
09/06/2013 
Chapter 10  Affine Maps in 3D  Posted 

page 214  First paragraph of page: "The intersection point x is" should refer to x'  09/06/2013 
page 217  Bottom pf page: "transfomation" is missing an "r"  09/06/2013 
Chapter 13  Alternative System Solvers  Posted 

page 287  Equation (13.8): v should be v  09/26/2013 
page 299  Misspelling of involutory in Exercise 2 and WYSK. This also occurs on pages 281, 284, and in the index. Found by Radu Grosu 
05/11/2016 
Chapter 14  General Linear Spaces  Posted 

page 315  Bottom of page: Equation for b_4 is missing . in the denominator; however, the solution is correct because the normalization was done. . = sqrt(1/2) 
09/26/2013 
page 316  Section 14.5 example of polynomials of fixed degree n: We consider all polynomials of degree < n to be of degree n. Instead of "fixed degree n" we could have said "of degree less than or equal to n" Found by Raud Grosu 
05/11/2016 
Chapter 15  Eigen Things Revisited  Posted 

page 341  Two occurances of r^(1) = [1 1 1] should be r^(1) = [1 1 1]^T  09/26/2013 
page 335  Figure 15.3 should have an arrow from node 4 to node 3.  04/30/2015 
Chapter 16  Teh Singular Value Decomposition  Posted 

page 353  "A note on U: ... eigenvectors A^TA" should state "A note on U: ... eigenvectors AA^T" Found by Radu Grosu 
05/11/2016 
page 366  Exercise 17: The second column of the matrix X should be 2, 1, 0, 1, 2, 1, 1 to match the given solution. Found by Radu Grosu 
05/11/2016 
Chapter 20  Curves  Posted 

page 425  Last paragraph, bottom of page: equation f_2 = f_1 \wedge f_3 should be f_2 = f_3 \wedge f_1. (See page 426 erratum for explanation.)  09/26/2013 
page 426  Equation (20.18): should be f_2 = f_3 \wedge f_1. Convention has it that f_2 has the same orientation with respect to the curve as the second derivative. This ideas is expressed in Sketch 20.9. Also, convention has it to create a righthanded local frame. 
09/26/2013 
page 428  Exercise 10: attach the curve c(t) at d(0) = d_0.  09/26/2013 
Appendix B  Selected Exercise Solutions  Posted 

page 444  Exercise 4: (v_1, v_2, v_3) closing parenthesis is missing  09/06/2013 
page 448  Exercise 27: The last equation should be m(t) = [2 3/2]^T + t[1 4]^T Found by Temaran 
07/01/2016 
page 453  Exercise 8: "is mapped to x=" should be "is mapped to x' ="  09/06/2013 
page 455  Exercise 12: Incorrect article for "an hyperboloid" and "an paraboloid"  09/06/2013 
page 462  Exercise 2: The question asked for an affine map; it is p' = A(p  x_1) + y_1 In this exercise, Ax_1 = Ay_1, thus the affine map is really just a linear map (a reflection). 
09/06/2013 
page 465  Exercise 10: The solution given is for v = [1/3 1/3 2/3]^T and n = [0 0 1]^T. For v and n in the problem definition, v' = [1/3 2/3 2/3]^T + 2/3[1 0 0 ]^T = [1/3 2/3 2/3]^T Found by Temaran 
07/02/2016 
page 482  Exercise 1: In the matrix, the lambda=1. Therefore, the circle is x^Tx  r^2 = 0. 
09/06/2013 
page 483  Exercise 4: Delete the last sentence of the solution. (The rotated ellipse was already given at the beginning of the solution.)  09/06/2013 
page 484  Exercise 15: The given scaling is incorrect. The circle with with center at the origin and radius 2 is mapped to the ellipse with x_1 extents +/ 1/sqrt(2) and x_2 extents +/ 1/2 by the scaling matrix with diagonal elements s_11 = 1/(2sqrt(2)) and s_22 = 1/4. Found by Radu Grosu 

page 483  Exercise 9: The definition of D is incorrect. The 4 should be a 2.  09/06/2013 
page 485  Exercise 5: To complete the solution, we should add "thus the monomial form is a_0 + ta_1 + t^2a_2 + t^3 a_3" 
09/06/2013 
page 486  Exercise 8: f_2 and f_3 are incorrect. f_3 = [0 0 1]^T and f_2 = [0.99 0.14 0]^T 
09/06/2013 
page 486  Exercise 10: The equation c_ 2 = c_0 + c[d_0  d_1] should be c_2 = d_0 + c[d_0  d_1] 
09/06/2013 