# Application of Linear Transformation (Robot II)(선형변환의 응용: 마징가Z 2)

Dilation
The transformation matrix $D$ for a direct dilation with center point $(p,q,1)$ and ratio $r$ is
$D= \begin{bmatrix} r & 0 & p(1-r) \\ 0 & r & q(1-r) \\ 0 & 0 & 1 \end{bmatrix}$.