Problem 44820. Relative pose in 2D: problem 2

Created by Peter Corke

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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}.

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Last Solution submitted on Jul 02, 2025

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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.)

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Problem 44820. Relative pose in 2D: problem 2

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Problem 44820. Relative pose in 2D: problem 2

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