Try it: the frame chain

Move the robot, then break the chain. Every number comes from frames2d.py.

robot x (m) robot y (m) robot heading θ laser offset (m) point in laser x (m)

Python starts when the lecture gets close to this slide.

Python not started yet.

The Python behind the demo

frames2d.py: make, compose, invert, and apply. Use it to check your Problem Set 1 answers.

The worked chain, the three bugs, and the inverse, as on your Mac:

$ python3 frames2d.py

What the slide calls for each redraw: