Problem 44824. Relative points in 2D: problem 2

Created by Peter Corke

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The 2D pose of a robot, with respect to a world coordinate frame {O}, is described by a 3x3 homogenous transform matrix T. A landmark point is observed by the robot, as a 2x1 coordinate vector P. What is the coordinate of the landmark with respect to the world coordinate frame?

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Last Solution submitted on Dec 04, 2024

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Tikay on 13 Mar 2020

I think the answer is wrong...

Juvva Vijayendra Bharath on 22 Aug 2020

A = T * [PB; 1];
P = A(1:2, 1);
what is wrong with this solution!

carlos fuentes on 28 Jan 2021

I think this problem is wrong. It should use the homogeneous transformation matrix not its inverse!

Christian Schröder on 29 Dec 2022

Broken test suite? This doesn't even seem to call the function in question, among other things.

ChrisR on 18 Apr 2023

Yes, I agree with Christian. It's probably worth checking all of the problems in this problem group. I think the conversion to the current format of tests hid some of the code in the test suites.

Anh Minh Tu on 13 Jul 2023

gotta agree with Carlos, the transformation matrix suppose to be as it is when input, not to be inverse. The transformation matrix is describing the pose of robot respected to worlds frame.

Christian Schröder on 3 Aug 2023

Nevermind, I was wrong. The problem is solvable, and the function is called; this is just not visible in the test suite (which may be on purpose). Picking up a copy of Peter's book may help with these problems too. :)

ChrisR on 4 Nov 2023

Thanks to the person who made the initial code (now in Test 1) visible. However, now P computed in Test 1 is not available for the later tests. Christian might be right that the initial code was meant to be hidden. Is there a way to fix the problem? Put all tests together?

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Problem 44824. Relative points in 2D: problem 2

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Problem 44824. Relative points in 2D: problem 2

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