Notation

Scalars, Vectors and Matrices

We will use the following conventions to represent scalars, vectors and matrices:

• Scalars are represented by small letters in normal font: \(\displaystyle x,y,z\).
• Vectors are represented by small letters in bold-faced font: \(\displaystyle \mathbf{x} ,\ \mathbf{y} ,\ \mathbf{z}\).
• Matrices are represented by capital letters in bold-faced font: \(\displaystyle \mathbf{X} ,\mathbf{Y} ,\mathbf{Z}\)

Column and Row vectors

• Vectors are often represented as column and row matrices.
• When interpreted as matrices, the vector \(\mathbf{x}\) is a column vector by default.
• \(\mathbf{x}^{T}\) is a row vector.