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.
Usage Scenario
For various scenarios where pose orientations need to be adjusted.
This Step belongs to an earlier version. Please instead use the new Step Rotate Poses to Directions Freely that has a wider range of functions. Use it with Easy Create Vector3Ds.
Parameter Description
Visualization Settings
- Pose Type to Visualize
-
Instruction: This parameter decides the type of pose to visualize.
Options:
-
Before (pose before processing)
-
After (pose after processing)
-
All (all poses before and after processing)
Default setting: After.
-
Use Reference Point
Description: This parameter is used to select whether to use the base point to calculate reference direction. When the option is selected, you need to set the parameters in Reference Point Settings.
Default setting: unselected.
Instruction: Select the option only when you use the base point to calculate reference direction. The direction constructed starts from the input pose and points to the reference point.
Reference Point Settings
- Use Relative Z
-
Description: This parameter decides whether to replace the Z value of the reference point. Z value of reference point = original pose Z value + relative value.
Default setting: unselected.
- X
-
Description: the X coordinate value of the reference point.
Default value: 0.0000
- Y
-
Description: the Y coordinate value of the reference point.
Default value: 0.0000
- Z
-
Description: the Z coordinate value of the reference point.
Default value: 0.0000
- Relative Z
-
Description: the relative translation value in the Z direction. When Use Relative Z is selected, you need to set this parameter.
Default value: 0.0000
Axis Settings
- Fixed Axis
-
Description: This parameter specifies the axis that remains invariant during the pose rotation.
Options: X, Y, Z.
Default setting: Y
- Rotated Axis
-
Description: This parameter is used to select the axis that rotates to a specified direction.
Options: X, Y, Z.
Default setting: Z
Reference Direction Settings
- X
-
Description: the direction vector of the reference axis X.
Default value: 0.0000
- Y
-
Description: the direction vector of reference axis Y.
Default value: 0.0000
- Z
-
Description: the direction vector of the reference axis Z.
Default value: 1.0000