Problem 44820. Relative pose in 2D: problem 2

Created by Peter Corke

Solve Later

{"relationships":[{"relationshipType":"http://schemas.mathworks.com/matlab/code/2013/relationships/document","targetMode":"","relationshipId":"rId1","target":"/matlab/document.xml"},{"relationshipType":"http://schemas.mathworks.com/matlab/code/2013/relationships/output","targetMode":"","relationshipId":"rId2","target":"/matlab/output.xml"}],"parts":[{"partUri":"/matlab/document.xml","relationship":[],"contentType":"application/vnd.mathworks.matlab.code.document+xml","content":"<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n<w:document xmlns:w=\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\"><w:body><w:p><w:pPr><w:pStyle w:val=\"text\"/></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: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: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>"},{"partUri":"/matlab/output.xml","contentType":"text/xml","content":"<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\" ?><embeddedOutputs><metaData><evaluationState>manual</evaluationState><layoutState>code</layoutState><outputStatus>ready</outputStatus></metaData><outputArray type=\"array\"/><regionArray type=\"array\"/></embeddedOutputs>"}]}

Solve

Solution Stats

369 Solutions
60 Solvers

Last Solution submitted on Dec 28, 2021

Last 200 Solutions

Problem Comments

1 Comment

1 Comment

ChrisR on 20 Dec 2021 at 17:38

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

Problem Recent Solvers60

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 Solvers60

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 Solvers60

Suggested Problems

More from this Author16

Problem Tags

Community Treasure Hunt

Players