Now it's time to start making these concepts real. What is this thing? What is this letter ksi? We're going to do this by separating rotation and translation.
Here we have the car at two different poses. And we can describe the second pose in terms of a relative pose from here to there. Now in order to aid our understanding and development of the concept, we're going to split this into two parts. A translation followed by a rotation. We're going to deal with the rotational part first because it's actually more complex than translation and conceptually more difficult to understand.
The pose of an object can be considered in two parts, the position of the object and the orientation of the object.