# Day 5.2 - {0} to get {0} 2. and then translate in {0} in to...

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Rigid Body Transformations in 3D 1/25/2012 6 p 0 1 d 1 2 d {0} {1} {2}

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Rigid Body Transformations in 3D 1/25/2012 7 suppose {1} is a rotated and translated relative to {0} what is the pose (the orientation and position) of {1} expressed in {0} ? d {0} {1} ? 0 1 T
Rigid Body Transformations in 3D 1/25/2012 8 suppose we use the moving frame interpretation (postmultiply transformation matrices) 1. translate in {0} to get {0’} 2. and then rotate in {0’} to get {1} d {0} {1} 0 ' 0 D d {0} {0’} {0’} Step 1 Step 2 ' 0 1 0 ' 0 R D

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Rigid Body Transformations in 3D 1/25/2012 9 suppose we use the fixed frame interpretation (premultiply transformation matrices) 1. rotate in
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Unformatted text preview: {0} to get {0} 2. and then translate in {0} in to get {1} d {0} R {0} {0} {0} {1} Step 1 Step 2 R D Rigid Body Transformations in 3D 1/25/2012 10 both interpretations yield the same transformation 1 1 1 1 1 1 3x3 3x3 1 d R R d R D T...
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## This note was uploaded on 02/13/2012 for the course CSE 4421 taught by Professor Burton during the Winter '11 term at York University.

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Day 5.2 - {0} to get {0} 2. and then translate in {0} in to...

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