Decompose Poses to Quaternions and Translations

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Function

This Step decomposes poses into quaternions and translation vectors.

Usage Scenario

This Step is a general pose decomposition Step that provides data sources for subsequent Steps that require rotation vector and pose center data types.

Input and Output

Input

Input port	Data type	Description
Original Poses	Pose[]	Original pose list.

Input port

Data type

Description

Original Poses

Pose[]

Original pose list.

Output

Output port	Data type	Description
Rotations	Quaternion[]	Rotation vectors of poses (in quaternions).
Centers	Vector3D[]	The center of the pose.

Output port

Data type

Description

Rotations

Quaternion[]

Rotation vectors of poses (in quaternions).

Centers

Vector3D[]

The center of the pose.

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.

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