Rotate Axis to Minimize Included Angle to Reference Direction

Function

Adjust axes of poses to the direction with the smallest angles to the reference directions around selected pose axes within symmetry constraints.

Step interface and parameters

Sample Scenario

For various scenarios where pose orientations need to be adjusted. This Step belongs to an earlier version. Please instead use Rotate Poses to Directions Freely which is newer and has a wider range of functions, and use it with Easy Create Vector3Ds.

Input and Output

Parameters

use Input Pose Dir

It is enabled when there exists a second input (reference pose).

mappingType

Default Value: FirstToAll

List of Values: FirstToAll, OneToOne

Instruction: Input mapping method of posture and reference posture. FirstToAll maps the first reference pose to all input poses; OneToOne maps the reference poses to the input poses one by one, which requires the number of reference poses and input poses are equal.

alignToAxis

Default Value: Z

List of Values: X, Y, Z

Instruction: Select the reference axis from the reference pose.

Reference Direction

x

Default Value: 0

Instruction: The direction vector of the reference axis x.

y

Default Value: 0

Instruction: The direction vector of reference axis y.

z

Default Value: 1

Instruction: The direction vector of the reference axis z.

Calc Dir By BasePoint

useBasePoint

Default Value: False

List of Values: True, False

Instruction: Whether to use the base point to calculate the reference axis.

basePointX

Default Value: 0

Instruction: X coordinate value of base point.

basePointY

Default Value: 0

Instruction: Y coordinate value of base point.

basePointZ

Default Value: 0

Instruction: Z coordinate value of base point.

useRelativeZ

Default Value: False

List of Values: True, False

Instruction: If the height of the object will change during the production process, it is recommended that set it to true.

relativeZValue

Default Value: 0

Instruction: The Z-direction value of the object = base point Z coordinate value + the relative Z value.

Axis

fixedAxis

Default Value: Y

List of Values: X, Y, Z

Instruction: Rotation axis

setAxis

Default Value: Z

List of Values: X, Y, Z

Instruction: Axes that needs to be rotated.

Typical case

It can be used to set the coordinate axes of multiple objects to the same direction. For example, when sending visual point, in order to calculate the offset, the directions of all objects’ coordinate axes should be the same.