… of the Rm2r transform. Affects the location of the object in the inertial frame and drawing the robot axis
Could just be a typo -- using the transpose Rm2r' should be computationally easier (and more accurate due to rounding) than using the inverse, but that ' is easy to miss.
Incidentally, it looks like the same typo exists in the 3d version (including the miss-matched comments (in 3d, z isn't zero)), but I haven't tried to get the visualization right to verify
… of the Rm2r transform. Affects the location of the object in the inertial frame and drawing the robot axis
Could just be a typo -- using the transpose Rm2r' should be computationally easier (and more accurate due to rounding) than using the inverse, but that ' is easy to miss.
Incidentally, it looks like the same typo exists in the 3d version (including the miss-matched comments (in 3d, z isn't zero)), but I haven't tried to get the visualization right to verify