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Assignment:
Consider two coordinate systems {A}and {B}. {B}initially coincides with {A}.{B}is obtained from {A}by sliding along the direction of a vector Av=[0.3?0.4?0.866?]Tfor a distance of 5 units, rotating about Avby an angle of 20°, and rotating about another vector Aw=[1.7?-1.0?2.0?]Tby an angle of -50°.
(a) Find the unit quaternion that represents the orientation of {B}relative to {A}.
(b) Compute the origin of the coordinate system {B}.
(c) Compute the homogeneous transformation BA?T.
(d) Treating Avand Awas position (line) vectors, compute Bvand Bw.
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