I am new to Robotics and transformation topics. I need help in understanding and solving the below problem.
- I have data (surrounding obstacle position, orientation and velocity) which are in sensor frame. Basically it gives the relative speed of the surrounding obstacles (v_rx, v_ry)
- I have converted the obstacle position and orientation to UTM coordinates (WCS) using Translation and Rotation matrix.
- How the velocity can be converted to WCS if the received data (Vx, Vy, Vz) is in sensor frame?