Problem 1 (20 points) Here we have three coordinate frames. Eve's reference frame e, Wall-e's reference frame w, and the

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Problem 1 20 Points Here We Have Three Coordinate Frames Eve S Reference Frame E Wall E S Reference Frame W And The 1 (338.47 KiB) Viewed 40 times

Problem 1 (20 points) Here we have three coordinate frames. Eve's reference frame e, Wall-e's reference frame w, and the moon's reference frame m. Ze Ye 4 Xe Уm Zw Zm Yw Xm Xw 6 10 1. (4 point) What is the moon's position in Wall-e's reference frame? What is Eve's position in Wall-e's coordinate frame? 2. (4 point) Write the following poses "Tu, €TM, ®Ty as SE(3)s. 3. (2 points) Write a few sentences about what this transform ®TW represents in terms of translation and rotation. = 4. (3 point) Show that @Tm "T, = Tw. 5. (32 point) Show that ®Tv = (WT)-1. 6. (4 point) The moon has moved in its positive z direction by 2 units and its positive x direction by 2 units, show that "T, hasn't changed from part 2. Briefly describe why @Tw did not change.