| Measurement
equations |
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| Measurement
equations |
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| ufp = ifT
sp if: rotation, sp:
position |
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| vfp = jfT
sp |
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| Stack them up… |
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| W = R S |
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| R = (i1,…,iF,
j1,…,jF)T |
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| S = (s1,…,sP) |
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