Cody

Problem 44819. Relative pose in 2D: problem 1

Created by Peter Corke in Community

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.

With respect to the world frame origin , the robot's centre is at a distance of 123m in the x-direction and -74.6m in the y-direction. The car's heading angle is exactly SSW.

Write a 3x3 matrix homogeneous transformation matrix that expresses the pose of the robot frame {B} with respect to the world frame {O}.*

Solution Stats

28.79% Correct | 71.21% Incorrect
Last solution submitted on May 23, 2019

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