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 world frame origin , the robot's centre is at a distance of 123m in the x-direction and -74.6m in the y-direction. The car's heading angle is exactly SSW.
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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William
on 10 Jan 2019
The test suite needs to call the function, so that the matrix T will be available for testing.
William
on 10 Jan 2019
Ooops! I see now that the function is called, but it looks like a program comment "%%T = user_function"
Peter Corke
on 12 Jan 2019
That's weird, it shows as a %% comment, but in the problem editor it is not. I've asked MathWorks about this.
goc3
on 17 Jan 2019
A %% needs to be added before the first line. Otherwise, the server parses that first line of the test suite as a comment. I've fixed it here; feel free to fix this problem wherever else it occurs in problems you've created.
Peter Corke
on 20 Jan 2019
@goc3 that broke my test! Seems there is some implicit scoping rule, by adding the %% it means that T is not available in subsequent %% cells. Fixed it by calling the user function multiple times. This stuff is not well documented: the scoping rules, the need for a leading %% etc.
goc3
on 25 Jan 2019 at 13:00
Sorry for any confusion that may have been caused. Yes, there may be a need for more detailed explanations of some site functioning, but that is beyond my power. For what it's worth, the scoping rule is consistently applied for all problems on the site: variables called within each test case are only available to that test case. I (and many other problem creators) end up repeating lines for any required variables within each test case.
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