Compose Poses from Quaternions and Translation Vectors

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Function

This Step combines the input rotation vectors (in quaternions) and translation vectors into poses.

function description

Usage Scenario

This Step is a general pose creation Step. No fixed usage scenarios.

Input and Output

Input

Input port Data type Description

Rotations

Quaternion[]

Rotation vectors (in quaternions) input to this port will be used to compose the poses.

Centers

Vector3D[]

Pose centers (as translation vectors) input to this port will be used to compose the poses.

Output

Output port Data type Description

Composed Poses

Pose[]

Poses composed of the input rotation vectors and pose centers.

Parameter Description

Parameter Description

Pose Type to Visualize

Description: This parameter is used to select the pose type to visualize.
Default value: After
Value list: After, Before, and All
Instruction: Select an appropriate option according to actual needs. Please refer to the tuning example for the corresponding result.

Tuning Examples

Pose Type to Visualize

In the case of the robot reference frame, the visualized poses are as follows when the Pose Type to Visualize is set to After, Before, and All.

transform poses pose display settings

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