Problem 44820. Relative pose in 2D: problem 2

Solution 1808722

Submitted on 7 May 2019 by Tan Shuwen is pig

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Test	Status	Code Input and Output
1	Pass	assert(isequal(T(3,:), [0 0 1]), 'The bottom row of the homogeneous transformation matrix is not correct')
2	Pass	assert(abs(T(1,3)+71.619164)<1e-4, 'The representation of the x-coordinate is not correct')
3	Pass	assert(abs(T(2,3)-20.88768)<1e-4, 'The representation of the y-coordinate is not correct')
4	Pass	R = T(1:2,1:2); assert( abs(det(R)-1) < 0.01, 'The determinant of the rotation submatrix is not correct')
5	Pass	R = T(1:2,1:2); assert( abs(atan2d(R(2,1), R(1,1)) + 42) < 0.1, 'The rotation matrix is not correct, check your calculation of the heading SSW and whether you are using radians or degrees')