Problem 44830. Twists in 2D
So far we have represented the pose of an object in the plane using a homogeneous transformation, a 3x3 matrix belonging to the special Euclidean group SE(2), which is also a Lie group.
An alternative, and compact, representation of pose is as a twist, a 3-vector comprising the unique elements of the corresponding 3x3 matrix in the Lie algebra se(2). The matrix exponential of the Lie algebra matrix is a Lie group matrix.
Given a homogeneous transformation, return the corresponding twist as a column vector with the translational elements first.
Solution Stats
Problem Comments
Solution Comments
Show commentsProblem Recent Solvers15
Suggested Problems
-
Read a column of numbers and interpolate missing data
2229 Solvers
-
Convert a structure into a string
196 Solvers
-
Find the maximum number of decimal places in a set of numbers
2634 Solvers
-
188 Solvers
-
4749 Solvers
More from this Author16
Problem Tags
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!