2D Rotation matrices (1): basic definition

Antonio Sala, UPV

Difficulty: * ,       Relevance: ,      Duration: 15:18

Summary:

This video examines the basic ideas behind a 2D rotation (transformation between a “body frame” (axis: forward+left) of a vehicle and a “world frame” (axis: East and North). With this transformation, the coordinates of a given landmark that the vehicle sensors detect can be transformed on how that landmark is positioned in world (inertial, fixed) coordinates.

At the end, it’s just adding two angles and using sum-of-angle trigonometrical identities. Then, a rotation matrix is derived.

Further properties and generalizations will be analyzed in sequel videos.

*Link to my [ whole collection] of videos in English. Link to larger [ Colección completa] in Spanish.