Problem 44820. Relative pose in 2D: problem 2

Created by Peter Corke

Solve Later

We consider a world reference frame denoted by {0} which has its x-axis pointing east and its y-axis pointing north. There is a robot with an attached body-fixed coordinate frame {B} whose origin is in the centre of the robot, and whose x-axis points in the robot's forward direction.
With respect to the robot's coordinate frame, the world frame origin is at a distance of 67.2m in the x-direction and 32.4m in the y-direction, and at a bearing angle of 42 degrees.
Write a 3x3 matrix homogeneous transformation matrix that expresses the pose of the robot frame {B} with respect to the world frame {O}.

Solve

Solution Stats

633 Solutions
104 Solvers

Last Solution submitted on Nov 29, 2025

Last 200 Solutions

Problem Comments

4 Comments

4 Comments

Show 1 older comment

ChrisR on 20 Dec 2021

This problem is currently not solvable because the test suite does not call the function--i.e., the matrix T is never set.

goc3 on 12 Apr 2022

The test suite has been updated.

Shawn Khera on 19 Feb 2024

It keeps telling me my x and y aren't in the correct format? Any hints?

Christian Schröder on 20 Feb 2024

@Shawn your solution 13173783 is almost correct, but you're returning the inverse of T rather than T.

(This is easily fixed by explicitly taking the inverse, but you don't need to do that; you can compute the correct T directly.)

Solution Comments

Show comments

Problem Recent Solvers104

Problem Tags

Community Treasure Hunt

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

Start Hunting!

Problem 44820. Relative pose in 2D: problem 2

Solution Stats

Last 200 Solutions

Problem Comments

Solution Comments

Problem Recent Solvers104

Suggested Problems

More from this Author16

Problem Tags

Community Treasure Hunt

Problem 44820. Relative pose in 2D: problem 2

Solution Stats

Last 200 Solutions

Problem Comments

Solution Comments

Problem Recent Solvers104

Suggested Problems

More from this Author16

Problem Tags

Community Treasure Hunt

Players