Cody

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

Solution 2203371

Submitted on 10 Apr 2020
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### Test Suite

Test Status Code Input and Output
1   Fail
T = user_function assert(all(size(T)==3), 'The matrix must be 3x3'); assert(isreal(T), 'The matrix must be real, not complex');

Not enough input arguments. Error in user_function (line 3) T = [cos(SSW) -sin(SSW) 123; sin(SSW) cos(SSW) -74.6; 0 0 1]; Error in Test1 (line 1) T = user_function

2   Fail
T = user_function assert(isequal(T(3,:), [0 0 1]), 'The bottom row of the homogeneous transformation matrix is not correct')

Not enough input arguments. Error in user_function (line 3) T = [cos(SSW) -sin(SSW) 123; sin(SSW) cos(SSW) -74.6; 0 0 1]; Error in Test2 (line 1) T = user_function

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

Not enough input arguments. Error in user_function (line 3) T = [cos(SSW) -sin(SSW) 123; sin(SSW) cos(SSW) -74.6; 0 0 1]; Error in Test3 (line 1) T = user_function

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

Not enough input arguments. Error in user_function (line 3) T = [cos(SSW) -sin(SSW) 123; sin(SSW) cos(SSW) -74.6; 0 0 1]; Error in Test4 (line 1) T = user_function

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

Not enough input arguments. Error in user_function (line 3) T = [cos(SSW) -sin(SSW) 123; sin(SSW) cos(SSW) -74.6; 0 0 1]; Error in Test5 (line 1) T = user_function

6   Fail
T = user_function 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')

Not enough input arguments. Error in user_function (line 3) T = [cos(SSW) -sin(SSW) 123; sin(SSW) cos(SSW) -74.6; 0 0 1]; Error in Test6 (line 1) T = user_function