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Geometric Relations Between Rigid Bodies (Part 1): Semantics for Standardization

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6 Author(s)

This tutorial explicitly states the semantics of all coordinate-invariant properties and operations, and, more importantly, all the choices that are made in coordinate representations of these geometric relations. This results in a set of concrete suggestions for standardizing terminology and notation, allowing programmers to write fully unambiguous software interfaces, including automatic checks for semantic correctness of all geometric operations on rigid-body coordinate representations. A concrete proposal for community-driven standardization via the Robot Engineering Task Force [4] is accepted as a Robotics Request for Comment.

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Robotics & Automation Magazine, IEEE  (Volume:20 ,  Issue: 1 )