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Appendix B - Rotation and Pose Extras

from Part IV - Appendices

Published online by Cambridge University Press:  11 January 2024

Timothy D. Barfoot
Timothy D. Barfoot
Affiliation:
University of Toronto
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Summary

This appendix contains a few extra derivations relating to rotations and poses that may be of interest to some enthusiastic readers. In particular, the eigen/Jordan decomposition of rotations and poses provides some deeper insight into these quantities that are ubiquitous in robotics.

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State Estimation for Robotics
Second Edition
 , pp. 458 - 470
Publisher: Cambridge University Press
Print publication year: 2024

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