Translate Poses along Given Direction¶

Function¶

Translate poses along a given direction.

Translate poses according to the direction and distance set by the user.

Parameter			Description
Visualization Settings	Show Cloud Under Chosen Coordinate	Robot Coordinate	Display point clouds in the robot reference frame
		Camera Coordinate	Display point clouds in the camera reference frame
	Pose Visuals Setting	After	Display the output translated poses
		Before	Display the input original poses
		All	Display both the input and output poses
Translation Direction Settings	Translation Distance		The translation distance along the customized direction
	Translation Direction Source	CustomizedDirection	Translate the pose along a customized direction
		ObjectAxis	Translate the pose along a specified axis of the object reference frame
Customized Direction	X		X value of the reference direction
	Y		Y value of the reference direction
	Z		Z value of the reference direction

Visualization Settings

Show Cloud Under Chosen Coordinate: Default setting: Robot Coordinate

Options: Robot Coordinate, Camera Coordinate

Instruction: Please refer to Display point clouds in a specified reference frame for detailed instructions.
Pose Visuals Setting: Default setting: After

Options: After, Before, All

Translation Direction Settings

Translation Distance: Default setting: 0

Instruction: Please configure according to actual situation.
Translation Direction Source: Default setting: CustomizedDirection

Options: CustomizedDirection, ObjectAxis

Instruction: Please configure according to actual situation.

Hint

When ObjectAxis is selcted, you will need to select an axis according to the actual situation.

CustomizedDirection (This option will only appear when CustomizedDirection is selected.)

Examples

The figure below shows the pose before and after being translated 0.03m along the X axis of the object reference frame. In this example, ObjectAxis is selected as the Translation Direction Source; the specified axis is the X axis; and the Translation Distance is set to 0.03.
The figure below shows the pose before and after being translated 0.03m along the Y axis of the object reference frame. In this example, ObjectAxis is selected as the Translation Direction Source; the specified axis is the Y axis; and the Translation Distance is set to 0.03.
The figure below shows the pose before and after being translated 0.08m along the Z axis of the object reference frame. In this example, ObjectAxis is selected as the Translation Direction Source; the specified axis is the Z axis; and the Translation Distance is set to 0.08.
When CustomizedDirection is selected as the Translation Direction Source, you will need to set the values of X, Y, and Z in Customized Direction. As shown in the figure below, the path from the origin O to A (X, Y, Z) is the direction for the pose translation.

The figure below shows the pose before and after being translated 0.08m along the customized direction. In this example, the values of X, Y, and Z are all set as 5, and the Translation Distance is set to 0.08.