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Published in:
2017 | OriginalPaper | Chapter
Representing Position and Orientation
Author : Peter Corke
Published in: Robotics, Vision and Control
Publisher: Springer International Publishing
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Numbers are an important part of mathematics. We use numbers for counting: there are 2 apples. We use denominate numbers, a number plus a unit, to specify distance: the object is 2 m away. We also call this single number a scalar. We use a vector, a denominate number plus a direction, to specify a location: the object is 2 m due north. We may also want to know the orientation of the object: the object is 2 m due north and facing west. The combination of position and orientation we call pose.