Problem 44830. Twists in 2D

Created by Peter Corke

Solve Later

{"relationships":[{"relationshipType":"http://schemas.mathworks.com/matlab/code/2013/relationships/document","relationshipId":"rId1","target":"/matlab/document.xml"},{"relationshipType":"http://schemas.mathworks.com/matlab/code/2013/relationships/output","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\"?><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>So far we have represented the pose of an object in the plane using a homogeneous transformation, a 3x3 matrix belonging to the special Euclidean group SE(2), which is also a Lie group.</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>An alternative, and compact, representation of pose is as a twist, a 3-vector comprising the unique elements of the corresponding 3x3 matrix in the Lie algebra se(2). The matrix exponential of the Lie algebra matrix is a Lie group matrix.</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>Given a homogeneous transformation, return the corresponding twist as a column vector with the translational elements first.</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

39 Solutions
10 Solvers

Last Solution submitted on Apr 13, 2021

Last 200 Solutions

Problem Comments

Problem Recent Solvers10

Problem Tags

homogeneous transformation matrix exponential

Community Treasure Hunt

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

Start Hunting!

Problem 44830. Twists in 2D

Solution Stats

Last 200 Solutions

Problem Comments

Problem Recent Solvers10

Suggested Problems

More from this Author16

Problem Tags

Community Treasure Hunt

Problem 44830. Twists in 2D

Solution Stats

Last 200 Solutions

Problem Comments

Problem Recent Solvers10

Suggested Problems

More from this Author16

Problem Tags

Community Treasure Hunt

Players