Representing Position and Orientation

Abstract

We chap2.ipynbhttps://go.sn.pub/ntdGFo are familiar with numbers for counting and measuring, and tuples of numbers (coordinates) to describe the position of points in 2- or 3-dimensions. In robotics, we are particularly interested in where objects are in the world – objects such as mobile robots, the links and tool of a robotic manipulator arm, cameras or work pieces. Sect. 2.1 introduces foundational concepts and then, in Sect. 2.2 and 2.3 respectively, we apply them to the 2-dimensional and 3-dimensional scenarios that we encounter in robotics. Sect. 2.4 covers some advanced topics that could be omitted on a first reading, and Sect. 2.5 has additional details about the Python Toolbox we will use throughout the rest of the book.