Cody

# Problem 44819. Relative pose in 2D: problem 1

Solution 1706957

Submitted on 14 Jan 2019 by Stephan Gesell
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### Test Suite

Test Status Code Input and Output
1   Pass
assert(isequal(T(3,:), [0 0 1]), 'The bottom row of the homogeneous transformation matrix is not correct')

2   Pass
assert(isequal(T(1,3),123), 'The representation of the x-coordinate is not correct')

3   Pass
assert(isequal(T(2,3),-74.6), 'The representation of the y-coordinate is not correct')

4   Pass
R = T(1:2,1:2); assert( abs(det(R)-1) < 0.01, 'The determinant of the rotation submatrix is not correct')

5   Pass
R = T(1:2,1:2); assert( abs(atan2d(R(2,1), R(1,1)) + 112.5) < 0.1, 'The rotation matrix is not correct, check your calculation of the heading SSW and whether you are using radians or degrees')

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