Lect 7 - kinematics Flashcards
1
Q
When storing the data of links and joints of an object in a tree structure, explain how the world space co-ordinates of the vertices of a link are calculated.
A
Each node stores the local transformation matrix that describes a joint. The tree is traversed down while transformation matrices are composed to yield the overall transform.
That is: Wchild=WparentTchildLchild.
