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I am just going to explain from the basics. So feel free to skip through the first part and scroll to the bottom if you want the answer. Basics: The 3 parameters of your pose are $x,y,\theta$. These can be stored as homogeneous matrix which is the combination of the translation($x,y$) and the rotation($\theta$). It looks like so $$\begin{bmatrix} cos(\theta) ...

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