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Geometric constraint solving is constraint satisfaction in a computational geometry setting, which has primary applications in computer aided design. [1] A problem to be solved consists of a given set of geometric elements and a description of geometric constraints between the elements, which could be non-parametric (tangency, horizontality, coaxiality, etc) or parametric (like distance, angle ...
To find the angle of a rotation, once the axis of the rotation is known, select a vector v perpendicular to the axis. Then the angle of the rotation is the angle between v and Rv. A more direct method, however, is to simply calculate the trace: the sum of the diagonal elements of the rotation matrix.
The unit sphere S 2 in three-dimensional space R 3 is the set of points (x, y, z) such that x 2 + y 2 + z 2 = 1. Let N = (0, 0, 1) be the "north pole", and let M be the rest of the sphere. The plane z = 0 runs through the center of the sphere; the "equator" is the intersection of the sphere with this plane.
An xy-Cartesian coordinate system rotated through an angle to an x′y′-Cartesian coordinate system In mathematics, a rotation of axes in two dimensions is a mapping from an xy-Cartesian coordinate system to an x′y′-Cartesian coordinate system in which the origin is kept fixed and the x′ and y′ axes are obtained by rotating the x and ...
A two-dimensional space is a mathematical space with two dimensions, meaning points have two degrees of freedom: their locations can be locally described with two coordinates or they can move in two independent directions. Common two-dimensional spaces are often called planes, or, more generally, surfaces. These include analogs to physical ...
Fitting of a noisy curve by an asymmetrical peak model, with an iterative process (Gauss–Newton algorithm with variable damping factor α).Curve fitting [1] [2] is the process of constructing a curve, or mathematical function, that has the best fit to a series of data points, [3] possibly subject to constraints.
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A configuration describes the pose of the robot, and the configuration space C is the set of all possible configurations. For example: If the robot is a single point (zero-sized) translating in a 2-dimensional plane (the workspace), C is a plane, and a configuration can be represented using two parameters (x, y).