1.

Compute an SO(2) rotation matrix that corresponds to a rotation of

-50 degrees and place the result in the workspace variable R1.
2. Compute an SE(2) homogenous transformation matrix that
corresponds to a translation of 4 in the y-direction and 3 in the xdirection. Place the result in the workspace variable T1.
3. Compute an SE(2) homogenous transformation matrix that
corresponds to a translation of 5 in the x-direction and 6 in the ydirection and then a rotation of -30 degrees. Place the result in the
workspace variable T2.
4. Consider now that T2 represents the pose of the coordinate frame
{2}. The coordinate of point A in the world {0} coordinate frame is
given by the workspace variable PA_0. Determine the coordinate of
the point with respect to frame {2} and place the result in the
workspace variable PA_2.
5. Consider now that T1 represents the pose of the coordinate frame
{1}. The coordinate of point B with respect to frame {2} is given
by the workspace variable PB_2. Determine the coordinate of point
B with respect to the coordinate frame {1}, and place the result in
the workspace variable PB_1.
6. Determine the Euclidean distance between point A and point B and
place the result in the workspace variable D_AB.