Comments (6)
第2章pdf已发送,有个地方备注一下
这里可以参考下面pdf的倒数第二页,以及图中出现的 se3的^ 最好提一下
https://natanaso.github.io/ece276a2022/ref/ECE276A_14_SO3_SE3.pdf
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1 楼已经确认修复。
2 楼:这个不是一样的吗。。。 角速度不变,李代数速度项是个R^T v
hat的定义已经补充。
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- 本书不再对诸如四元数到旋转矩阵变换之类的过程进行详细的展开
- 去掉下标 a
- 鉴于是在公式2.48之后才提到省略的记法,所以在2.46时不建议缩写
- 这里的公式是左雅可比的逆,感觉不太恰当,建议把左雅可比和左雅可比的逆的公式都列出来
- 下面我们来考虑在线速度和加速度在不同坐标系之间的变换关系。
- 为了简便起见,我们首先考虑只带旋转关系的两个坐标系之间的线速度和加速度的变换关系。【好像后面也没有介绍其他情况,建议去掉首先】
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如果旋转矩阵的 Exp(w) 近似为 I + hat(w) 的话,也是存在这个问题的。我觉得这里的描述稍微有些问题。
同理,和SO3保持一致的话,四元数就不应该用近似的方式。
当然用近似的方式也行吧,只是这里的 cal{Q} 好像之前也没有出现过。
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已经修复,楼上那个加粗实际已经是粗体了,只是字体比较小看不太出来。
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