rigidBody.tex - 3.6.2 Coordinate Transformation Example - equation error

Question

rigidBody.tex - 3.6.2 Coordinate Transformation Example - equation error

melhashash opened this issue 5 years ago · 2 comments

... The answer to the program is [-0:0309731; 0:73499; 0:296108]T, and the calculation
process is very simple, just by calculating
$$ \mathbf{p}_{R_2} = \mathbf{T}_{ R_2, W} \mathbf{T}_{W, R_1} \mathbf{p}_{R_1}. $$
should be:
$$ \mathbf{p}_{R_2} = \mathbf{T}_{ R_2, W} \mathbf{T}_{W, R_1}^{-1} \mathbf{p}_{R_1}. $$
(inverse operator is missing)

Answer 1 · 2019-09-16T13:27:37.000Z

Hi @napester ,
Please note that by $$ \mathbf{T}{ R_2, W} \mathbf{T}{W, R_1} \mathbf{p}{R_1} $$ we first convert p{R_1} from R_1 to the World, then from the World to R_2. The equation should be read from right to left, so it is right.

Answer 2 · 2019-09-16T13:29:57.000Z

Thanks for clarification, I misread it.