Questions tagged [geometry]

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2answers
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Angle to a circle tangent line

I want to simulate the detection of a moving object by a unicycle type robot. The robot is modelled with position (x,y) and direction theta as the three states. The obstacle is represented as a circle ...
2
votes
1answer
80 views

Efficient sphere surface area search

As shown in the figure, there are objects of arbitrary shapes placed on the surface of the sphere at arbitrary locations. The problem is to search the surface to locate these objects in most efficient ...
0
votes
1answer
147 views

Relative orientation of two robots

Given two robot arms with TCP (Tool Center Point) coordinates in the world frame is: $X_1 = [1, 1, 1, \pi/2, \pi/2, -\pi/2]$ and $X_2 = [2, 1, 1, 0, -\pi/2, 0]$ The base of the robots is at: $...