机器人空间转换

发表于

rotation

前者表示坐标系A到B的旋转矩阵，后两个分别表示各坐标系下P点的坐标


3D transform

  • Moving around
    The camera observes point P in its own coordinate frame. But then the transform from the world to the camera is T. What’s the position of the point in the world coordinate? T*p
  1. reference frame changed
  2. point changed
    relative movement

Transform inverse