Coordinate differences

• Often simpler to add/remove some expression w/r neutral pose

• Idea:
• • - Set \(b^0\) to be neutral pose
  • - Precompute poses differences \(d_k = b_k-b^0\)
  • - Compute \(\displaystyle p_i(t)=b^0_i+\sum_{k}^{N_{\scriptsize{poses}}} \omega_k(t)\,d_{ik}\)

• • In matrix formulation \({\bf p}(t)={\bf b^0}+\mathrm{D}\,\mathbf{\omega}(t)\)