已知MInB0,PInB0, 计算PInM
BInM0 = pose_inv(MInB0)
PInM = pose_trans(BInM0,PInB0)
根据以上结果,已知MInB,计算PInB
PInB = pose_trans(MInB,PInM)
注:pose_trans(pa,pb)即pa*pb
已知MInB0,PInB0, 计算PInM
BInM0 = pose_inv(MInB0)
PInM = pose_trans(BInM0,PInB0)
根据以上结果,已知MInB,计算PInB
PInB = pose_trans(MInB,PInM)
注:pose_trans(pa,pb)即pa*pb