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--- turtlebot:adventures:sensing101_forwarderror [2015/10/27 18:42] – pvela
+++ turtlebot:adventures:sensing101_forwarderror [2024/08/20 21:38] (current) – external edit 127.0.0.1
@@ Line 50: / Line 50: @@
 Now, let's rearrange it to solve for $g_{des}$,
 \begin{equation}
-  g_{des} = g_{curr} * \Delta g.
+  g_{des} = g_{curr} \Delta g.
 \end{equation}
-Ha!  This final equation is exactly what you want to do.  Take the current position, as measured prior to actually performing any feedback and left-multiply by the desired movement of the Turtlebot.  For pure forward motion and for pure turning, this would be:
+Ha!  This final equation is exactly what you want to do.  Take the current position, as measured prior to actually performing any feedback, and left-multiply by the desired movement of the Turtlebot.  For pure forward motion and for pure turning, this would be:
 \begin{equation}
   \Delta g_{forward} = \left[ \begin{matrix} 1 & \Delta x + 0j \\ 0 & 1 \end{matrix} \right]
@@ Line 58: / Line 58: @@
   \Delta g_{turn} = \left[ \begin{matrix} e^{j \Delta \theta} & 0 \\ 0 & 1 \end{matrix} \right],
 \end{equation}
-where $\Delta x$ is the distance to drive forward and $\Delta \theta$ is the angle (in radians most likely) to turn.
+where $\Delta x$ is the distance to drive forward and $\Delta \theta$ is the angle (in radians most likely) to turn.  In future instantiations, we'll probably do more complex relative pose changes which involve both moving to an arbitrary point relative to the robot (having both x and y offsets), plus an arbitrary angle.
+This desired end pose will then be fixed until the proper terminating condition is achieved (e.g., the error is small enough to be negligible).
 ==== Complex Matrices in Python ====