Calc Distances between Poses

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Function

This Step forms a vector from two pose centers, and calculates the length of this vector, or the length of the vector’s projection on the XY plane. Multiple pairs of poses can be input at a time.

Usage Scenario

This Step is a general pose distance calculation Step. No fixed usage scenarios.

Input and Output

Input

Input port	Data type	Description
Original Poses	Pose[]	Poses input to this port will be used as the starting points of the distance vectors.
Reference Poses	Pose[]	Poses input to this port will be used as the endpoints of the distance vectors.

Input port

Data type

Description

Original Poses

Pose[]

Poses input to this port will be used as the starting points of the distance vectors.

Reference Poses

Pose[]

Poses input to this port will be used as the endpoints of the distance vectors.

Output

Output port	Data type	Description
Distances	Number[]	Lengths of distance vectors or lengths of projections of distance vectors on the XY plane.

Output port

Data type

Description

Distances

Number[]

Lengths of distance vectors or lengths of projections of distance vectors on the XY plane.

Parameter Description

Parameter	Description
Distance Type	Parameter description: Set the distance calculation mode. Value list: NONE: Output an empty list. Dis2ReferencePose: Calculate the distance between the input pose and the reference pose in 3D space. Dis2ReferencePoseOnXYPlane: Calculate the distance between the input pose and the reference pose on the XY plane. Default value: Dis2ReferencePose
Reference Pose	Parameter description: Set the reference pose used for distance calculation. X: X-coordinate of the reference pose. Y: Y-coordinate of the reference pose. Z: Z-coordinate of the reference pose. Default value: X=0.0000, Y=0.0000, Z=0.0000

Parameter

Description

Distance Type

Parameter description: Set the distance calculation mode.

Value list:

NONE: Output an empty list.
Dis2ReferencePose: Calculate the distance between the input pose and the reference pose in 3D space.
Dis2ReferencePoseOnXYPlane: Calculate the distance between the input pose and the reference pose on the XY plane.

Default value: Dis2ReferencePose

Reference Pose

Parameter description: Set the reference pose used for distance calculation.

X: X-coordinate of the reference pose.
Y: Y-coordinate of the reference pose.
Z: Z-coordinate of the reference pose.

Default value: X=0.0000, Y=0.0000, Z=0.0000

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Calc Distances between Poses

Function

Usage Scenario

Input and Output

Input

Output

Parameter Description

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