Point Axes of Poses to Given Direction

You are currently viewing the documentation for the latest version (2.2.0). To access a different version, click the "Switch version" button located in the upper-right corner of the page.

■ If you are not sure which version of the product you are currently using, please feel free to contact Mech-Mind Technical Support.

Function

Adjust the orientations of axes of poses by a set reference direction.

point axes of poses to given direction point axes of poses to given direction

Usage Scenario

For various scenarios where pose orientations need to be adjusted.

This Step is outdated. If you need to rotate poses by object symmetricity (that is, to set the parameter Rectification Method of this Step to ROTATION), please use the new Step Rotate Poses’ Axes to Specified Directions under Symmetry Constraints together with Step Easy Create Vector3Ds.

Input and Output

Input

Input port Data type Description

Original Poses

Pose[]

List of poses input to this port in the direction to be corrected.

Reference Direction

Pose[]

The reference direction to which the target points.

Output

Output port Data type Description

Adjusted Poses

Pose[]

List of reoriented poses.

Parameter Description

Visualization Settings

Parameter Description

Pose Type to Visualize

Default setting: After.
List of options: After, Before, and All.
Instruction: This parameter decides the type of pose to visualize, including pose after processing, pose before processing, and poses before and after processing.

Method Selection

Parameter Description

Rectification Method

  • HARD_RECTIFY: The default value. If there exist a second input (reference pose), and useFirstRefPose is selected, the reference direction is the direction of the corresponding axis type of the first reference pose. Otherwise the reference direction will be the corresponding axis type of all reference poses. If there isn’t a second input (reference pose), “reference Dir” will determine the reference direction.

  • ROTATION: Set the symmetrical angle according to the symmetry of the object, so that the rotation axis to be adjusted will be roughly in the same direction with the specified reference axis.

When this method is selected, this Step can only rotate the X-axis and Y-axis of the pose around Z-axis, and cannot rotate Z-axis of the pose.

Axis Settings

Parameter Description

Pointing Axis

Instruction: the rotation axis that needs adjustment.
List of option: X, Y, and Z (default setting).

Reference Direction

Parameter Description

X-axis

Default value: 0.0000
Instruction: the direction vector of the reference axis X.

Y-axis

Default value: 0.0000
Instruction: the direction vector of reference axis Y.

Z-axis

Default value: 1.0000
Instruction: the direction vector of the reference axis Z.

Symmetry Angle

Parameter description: This parameter is used to set the symmetry angle of the symmetrical objects (when ROTATION is selected in the rectification method, this parameter should be set).
Default value: 120°
Tuning recommendation: Please set the parameter according to the actual requirement.

Is this page helpful?

You can give a feedback in any of the following ways:

We Value Your Privacy

We use cookies to provide you with the best possible experience on our website. By continuing to use the site, you acknowledge that you agree to the use of cookies. If you decline, a single cookie will be used to ensure you're not tracked or remembered when you visit this website.

  • Preference
  • I accept
  • I don't accept