Rigid Body Transformations
Rigid Body Transformations. Vijay Kumar. Remark about Notation. Vectors x, y, a, … A x u , v, p, q, … Matrices A, B, C, … A A B g , h, …. Potential for Confusion!. The 3 ´1 vector a and its 3 ´3 skew symmetric matrix counterpart a Ù. For any vector b a ´ b = A b. a.
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