Cody

# Problem 44820. Relative pose in 2D: problem 2

Solution 2027737

Submitted on 19 Nov 2019 at 15:32
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### Test Suite

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   Fail
assert(abs(T(1,3)+71.619164)<1e-4, 'The representation of the x-coordinate is not correct')

The representation of the x-coordinate is not correct

3   Fail
assert(abs(T(2,3)-20.88768)<1e-4, 'The representation of the y-coordinate is not correct')

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')