Rotate poses around Given Axis

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Function

This Step rotates poses around a specified axis. The pose orientation can be adjusted precisely by setting the rotation axis and rotation angle.

rotate poses around given axis rotate poses around given axis

Usage Scenario

This Step is a general pose adjustment Step with no fixed usage scenarios.

This Step is outdated. Please use the new Step Rotate Poses around Axis by Angle instead and use it with the Step Easy Create 3D Vectors.

Input and Output

Input

Input port Data type Description

Original Poses

Pose[]

Poses input to this port will be rotated.

Output

Output port Data type Description

Rotated Poses

Pose[]

Rotated poses.

Parameter Description

Visualization Settings

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.

Reference Direction

Parameter Description

X

Description: This parameter sets the X component of the direction vector of the specified rotation axis.
Default value: 0.0000

Y

Description: This parameter sets the Y component of the direction vector of the specified rotation axis.
Default value: 0.0000

Z

Description: This parameter sets the Z component of the direction vector of the specified rotation axis.
Default value: 1.0000

Rotation Angle Settings

Parameter Description

Rotation Angle

Description: This parameter sets the angle for rotating poses around the specified axis.
Default value: 0°

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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