The 2D pose of a robot, with respect to a world coordinate frame {O}, is described by a 3x3 homogenous transform matrix T. A landmark point is observed by the robot, as a 2x1 coordinate vector P. What is the coordinate of the landmark with respect to the world coordinate frame?
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I think the answer is wrong...
A = T * [PB; 1];
P = A(1:2, 1);
what is wrong with this solution!
I think this problem is wrong. It should use the homogeneous transformation matrix not its inverse!
Broken test suite? This doesn't even seem to call the function in question, among other things.
Yes, I agree with Christian. It's probably worth checking all of the problems in this problem group. I think the conversion to the current format of tests hid some of the code in the test suites.
gotta agree with Carlos, the transformation matrix suppose to be as it is when input, not to be inverse. The transformation matrix is describing the pose of robot respected to worlds frame.
Nevermind, I was wrong. The problem is solvable, and the function is called; this is just not visible in the test suite (which may be on purpose). Picking up a copy of Peter's book may help with these problems too. :)
Thanks to the person who made the initial code (now in Test 1) visible. However, now P computed in Test 1 is not available for the later tests. Christian might be right that the initial code was meant to be hidden. Is there a way to fix the problem? Put all tests together?
Up on latest ChrisR comment
This problem can not be solved with the assertions having a %% before them. Change these to %.