Problem 44820. Relative pose in 2D: problem 2

Created by Peter Corke

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{"parts":[{"partUri":"/matlab/document.xml","contentType":"application/vnd.mathworks.matlab.code.document+xml","content":"<?xml version=\"1.0\" encoding=\"UTF-8\"?><w:document xmlns:w=\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\"><w:body><w:p><w:pPr><w:pStyle w:val=\"text\"/><w:jc w:val=\"left\"/></w:pPr><w:r><w:t>We consider a world reference frame denoted by {0} which has its x-axis pointing east and its y-axis pointing north. There is a robot with an attached body-fixed coordinate frame {B} whose origin is in the centre of the robot, and whose x-axis points in the robot's forward direction.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/><w:jc w:val=\"left\"/></w:pPr><w:r><w:rPr><w:b/></w:rPr><w:t>With respect to the robot's coordinate frame</w:t></w:r><w:r><w:t>, the world frame origin is at a distance of 67.2m in the x-direction and 32.4m in the y-direction, and at a bearing angle of 42 degrees.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/><w:jc w:val=\"left\"/></w:pPr><w:r><w:t>Write a 3x3 matrix homogeneous transformation matrix that expresses the pose of the robot frame {B} with respect to the world frame {O}.</w:t></w:r></w:p></w:body></w:document>","relationship":null}],"relationships":[{"relationshipType":"http://schemas.mathworks.com/matlab/code/2013/relationships/document","target":"/matlab/document.xml","relationshipId":"rId1"}]}

<div style = "text-align: start; line-height: 20px; min-height: 0px; white-space: normal; color: rgb(0, 0, 0); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: normal; text-decoration: none; white-space: normal; "><div style="display: block; min-width: 0px; padding-top: 0px; vertical-align: baseline; "><div style="font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-bottom: 9px; margin-left: 4px; margin-right: 10px; margin-top: 2px; text-align: left; white-space: pre-wrap; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; margin-right: 10px; "><span style="display: inline; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; "><span style="">We consider a world reference frame denoted by {0} which has its x-axis pointing east and its y-axis pointing north. There is a robot with an attached body-fixed coordinate frame {B} whose origin is in the centre of the robot, and whose x-axis points in the robot's forward direction.</span></span></div><div style="font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-bottom: 9px; margin-left: 4px; margin-right: 10px; margin-top: 2px; text-align: left; white-space: pre-wrap; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; margin-right: 10px; "><span style="display: inline; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; "><span style="font-weight: bold; ">With respect to the robot's coordinate frame</span></span><span style="display: inline; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; "><span style="">, the world frame origin is at a distance of 67.2m in the x-direction and 32.4m in the y-direction, and at a bearing angle of 42 degrees.</span></span></div><div style="font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-bottom: 9px; margin-left: 4px; margin-right: 10px; margin-top: 2px; text-align: left; white-space: pre-wrap; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; margin-right: 10px; "><span style="display: inline; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; "><span style="">Write a 3x3 matrix homogeneous transformation matrix that expresses the pose of the robot frame {B} with respect to the world frame {O}.</span></span></div></div></div>

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Last Solution submitted on Jun 20, 2022

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ChrisR on 20 Dec 2021

This problem is currently not solvable because the test suite does not call the function--i.e., the matrix T is never set.

goc3 on 12 Apr 2022

The test suite has been updated.

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Problem 44820. Relative pose in 2D: problem 2

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Problem 44820. Relative pose in 2D: problem 2

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