Problem 44828. Pose interpolation in 2D

Created by Peter Corke

Solve Later

{"relationships":[{"relationshipType":"http://schemas.mathworks.com/matlab/code/2013/relationships/document","targetMode":"","relationshipId":"rId1","target":"/matlab/document.xml"},{"relationshipType":"http://schemas.mathworks.com/matlab/code/2013/relationships/output","targetMode":"","relationshipId":"rId2","target":"/matlab/output.xml"}],"parts":[{"partUri":"/matlab/document.xml","relationship":[],"contentType":"application/vnd.mathworks.matlab.code.document+xml","content":"<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n<w:document xmlns:w=\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\"><w:body><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>Consider two poses represented by homogeneous transformation matrices:</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>T1</w:t></w:r><w:r><w:t> and</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>T2</w:t></w:r><w:r><w:t>. Write an algorithm to interpolate between these poses according to 0 &lt;=</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>s</w:t></w:r><w:r><w:t> &lt;= 1. When s=0 the algorithm should return</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>T1</w:t></w:r><w:r><w:t> and when</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>s</w:t></w:r><w:r><w:t> =1 it should return</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>T2</w:t></w:r><w:r><w:t> . For intermediate values of</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>s</w:t></w:r><w:r><w:t> it should return a proper homogeneous transformation matrix. Orientation angle should increase in a positive (counter clockwise) direction.</w:t></w:r></w:p></w:body></w:document>"},{"partUri":"/matlab/output.xml","contentType":"text/xml","content":"<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\" ?><embeddedOutputs><metaData><evaluationState>manual</evaluationState><layoutState>code</layoutState><outputStatus>ready</outputStatus></metaData><outputArray type=\"array\"/><regionArray type=\"array\"/></embeddedOutputs>"}]}

Solve

Solution Stats

67 Solutions
16 Solvers

Last Solution submitted on Apr 20, 2021

Last 200 Solutions

Problem Comments

Problem Recent Solvers16

Problem Tags

homogeneous transformation interpolation

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Problem 44828. Pose interpolation in 2D

Solution Stats

Last 200 Solutions

Problem Comments

Problem Recent Solvers16

Suggested Problems

More from this Author16

Problem Tags

Community Treasure Hunt

Problem 44828. Pose interpolation in 2D

Solution Stats

Last 200 Solutions

Problem Comments

Problem Recent Solvers16

Suggested Problems

More from this Author16

Problem Tags

Community Treasure Hunt

Players