Answer Question in MATLAB CODE
Consider this scenario A robot vehicle is 0.5m long and 0.3m wide. Its coordinate frame has its x-axis pointing forward and parallel to the centreline of the vehicle. The origin is in the middle of the rear axle which is 0.1 m in front of the rear edge of the vehicle . The robot is situated such that the origin of its coordinate frame is at a location 2.1 m in the x-direction and 1.3 m in the y-direction . The forward direction of the vehicle is at an angle of positive 40 deg about the z-axis and with respect to the world x-axis . A sensor is mounted on the front right corner of the vehicle and rotated 5 deg to the right. There is a navigation target at location (3.1, 3.2) m in the world frame . The coordinate frames have z upwards and determine (or better yet, write MATLAB code to determine) the configuration of the vehicle in units of metres and degrees. Save it in the workspace variable Q 3x3 homogeneous transformation matrix that describes the pose of this robot with respect to the world coordinate frame. Save it in the workspace variable TR 3x3 homogeneous transformation matrix that describes the pose of the sensor with respect to the world coordinate frame. Save it in the workspace variable TS position of the navigation target relative to the sensor in polar coordinate form as a 2x1 vector [r0] (in units of metres and degrees, respectively) in the workspace variable PP % Write the configuration of the vehicle (1x3 vectors) in units of met re s and degrees % Write a 3x3 homogeneou s transformation matrix that dEscribes the pos e of this robot % with respect to the world coordinate frame. TR % write a 3x3 homogeneou s transformation matrix that describes the pos e of the sensor % with respect to the world coordinate frame. TS % Write the position of the navigation target relative to the sensor in polar % coordinates form as a 2x1 vector (in units of metres and degrees, respectively) Consider this scenario A robot vehicle is 0.5m long and 0.3m wide. Its coordinate frame has its x-axis pointing forward and parallel to the centreline of the vehicle. The origin is in the middle of the rear axle which is 0.1 m in front of the rear edge of the vehicle . The robot is situated such that the origin of its coordinate frame is at a location 2.1 m in the x-direction and 1.3 m in the y-direction . The forward direction of the vehicle is at an angle of positive 40 deg about the z-axis and with respect to the world x-axis . A sensor is mounted on the front right corner of the vehicle and rotated 5 deg to the right. There is a navigation target at location (3.1, 3.2) m in the world frame . The coordinate frames have z upwards and determine (or better yet, write MATLAB code to determine) the configuration of the vehicle in units of metres and degrees. Save it in the workspace variable Q 3x3 homogeneous transformation matrix that describes the pose of this robot with respect to the world coordinate frame. Save it in the workspace variable TR 3x3 homogeneous transformation matrix that describes the pose of the sensor with respect to the world coordinate frame. Save it in the workspace variable TS position of the navigation target relative to the sensor in polar coordinate form as a 2x1 vector [r0] (in units of metres and degrees, respectively) in the workspace variable PP % Write the configuration of the vehicle (1x3 vectors) in units of met re s and degrees % Write a 3x3 homogeneou s transformation matrix that dEscribes the pos e of this robot % with respect to the world coordinate frame. TR % write a 3x3 homogeneou s transformation matrix that describes the pos e of the sensor % with respect to the world coordinate frame. TS % Write the position of the navigation target relative to the sensor in polar % coordinates form as a 2x1 vector (in units of metres and degrees, respectively)
