Roll, Pitch and Yaw: 3-D rotation matrices • Right handed coordinate systems • Follow development in Wolovich chpt 2 • Start with common origin for 2 frames • Rotate w.r.t. each axis • Three 3x3 rotation matrices • Limitation of single origin • Matlab: Modelling Rhino waist, shoulder • 3D 4x4 Homogeneous matrices for translation • First Rhino Lab specs & protocols
Roll, Pitch and Yaw: 3-D rotation matrices. Right handed coordinate systems Follow development in Wolovich chpt 2 Start with common origin for 2 frames Rotate w.r.t. each axis Three 3x3 rotation matrices Limitation of single origin Matlab: Modelling Rhino waist, shoulder - PowerPoint PPT Presentation
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Roll, Pitch and Yaw: 3-D rotation matrices
• Right handed coordinate systems• Follow development in Wolovich chpt 2• Start with common origin for 2 frames • Rotate w.r.t. each axis• Three 3x3 rotation matrices• Limitation of single origin• Matlab: Modelling Rhino waist, shoulder• 3D 4x4 Homogeneous matrices for translation • First Rhino Lab specs & protocols
• Basic concatenating of 3D rotation matrices to find where a point ends up assumes the rolling, pitching and yawing all take place around a single origin of one cartesian coordinate system.
• Example of 3D rotation: human shoulder socket
• But Rhino shoulder and elbow can have their coordinates systems moved w.r.t. waist
• translate rotated elbow element back to correct joint location.
• run exerRot4.m for demo of X-axis rotation mimicking Rhino forearm rotation
Grading: Princeton: NYT 1/31/10“Type-A-Plus Students Chafe at Grade Deflation”
by LISA W. FODERARO
• When Princeton University set out six years ago to corral galloping grade inflation by putting a lid on A’s, many in academia lauded it for taking a stand on a national problem and predicted that others would follow.
• But the idea never took hold beyond Princeton’s walls, and so its bold vision is now running into fierce resistance from the school’s Type-A-plus student body.
• With the job market not what it once was, even for Ivy Leaguers, Princetonians are complaining that the campaign against bulked-up G.P.A.’s may be coming at their expense.