Problem 44820. Relative pose in 2D: problem 2

Created by Peter Corke

Solve Later

{"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>

Solve

Solution Stats

394 Solutions
66 Solvers

Last Solution submitted on Sep 04, 2022

Last 200 Solutions

Problem Comments

2 Comments

2 Comments

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.

Problem Recent Solvers66

Problem Tags

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Problem 44820. Relative pose in 2D: problem 2

Solution Stats

Last 200 Solutions

Problem Comments

Problem Recent Solvers66

Suggested Problems

More from this Author16

Problem Tags

Community Treasure Hunt

Problem 44820. Relative pose in 2D: problem 2

Solution Stats

Last 200 Solutions

Problem Comments

Problem Recent Solvers66

Suggested Problems

More from this Author16

Problem Tags

Community Treasure Hunt

Players