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[AMR] Fix errors pointed out to me

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janishutz
2026-08-09 08:30:17 +02:00
parent cc5f111813
commit a8b3bd7b20
24 changed files with 50 additions and 47 deletions
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electives/amr/parts/02_Sensors-Actuators/02_actuators.tex
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@@ -14,4 +14,4 @@
(Induced V, Faraday) $U_i = k_i \omega$
(Mech. pow. $=$ electric power)\\
$U_i I_a = k_i \omega I_a = T_\omega = k_T I_a \omega \Rightarrow k_i = k_T =: k$
$U_i I_a = k_i \omega I_a = T \omega = k_T I_a \omega \Rightarrow k_i = k_T =: k$
electives/amr/parts/02_Sensors-Actuators/03_cameras.tex
+1 -1
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@@ -53,7 +53,7 @@ $\vec{x''} = \! \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k
(Scale and Centre) $\vec{u} = \vec{k}(\vec{x''}) = \text{diag}([f_u, f_v]) \cdot \vec{x''} + \vec{c}$
(To unit plane)
$\vec{x''} = \vec{k}^{-1}(\vec{u}) = [f_u^{-1}, f_v^{-1}]^\top (\vec{u} - \vec{c})$
$\vec{x''} = \vec{k}^{-1}(\vec{u}) = \text{diag}([f_u^{-1}, f_v^{-1}]) (\vec{u} - \vec{c})$
(Un-distort)
$\vec{x'} = \vec{d}^{-1}(\vec{x''})$ (usually comp. numerically)