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the difference between twist a and b is the third coordinate in the "rotation" part of the twist, and the difference between twist a and c is in the 6th coordinate of the "translation" part of the twist.
the difference between matrices is not only in translation but also in rotation.
I was wondering, why when I convert a twist to a transformation matrix, the rotation and translation components are not independent?
Another question is for quaternions, what is the format that you use? From lietensor.py I see that it's (t, q), but for q what's the order: (qx qy qz qw) or (qw qx qy qz)?
The text was updated successfully, but these errors were encountered:
The short answer is that the rotation and translation are independent in the representation of Lie Group, and look not independent in Lie Algebra because their relationship is (y is Lie Group)
Hey there, I run the following test:
the difference between twist a and b is the third coordinate in the "rotation" part of the twist, and the difference between twist a and c is in the 6th coordinate of the "translation" part of the twist.
However, when I call:
the difference between matrices is not only in rotation but also in translation.
When I call:
the difference between matrices is not only in translation but also in rotation.
I was wondering, why when I convert a twist to a transformation matrix, the rotation and translation components are not independent?
Another question is for quaternions, what is the format that you use? From
lietensor.py
I see that it's (t, q), but forq
what's the order: (qx qy qz qw) or (qw qx qy qz)?The text was updated successfully, but these errors were encountered: