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--- turtlebot:adventures:sensing101_forwarderror [2015/10/27 18:43] – [Generating the Desired End Pose] pvela
+++ turtlebot:adventures:sensing101_forwarderror [2024/08/20 21:38] (current) – external edit 127.0.0.1
@@ 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 ====