Rotate Poses to Directions Freely

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Function

This Step rotates input original poses so that the direction of the specified axis of each pose is aligned with the reference direction. The reference direction can be obtained through an input port or set in step parameters.

Usage Scenario

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

Input and Output

Input

Input port Data type Description

Original Poses

Pose[]

Poses input to this port will be rotated.

Customized Directions

Vector3D[]

Target orientations for rotation.

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.
Parameter Description

Axis to Rotate

Description: This parameter specifies the axis that should point to the reference direction.
Value list: X, Y, Z
Default value: Z

Fixed Axis

Description: This parameter specifies the axis that remains fixed during rotation. Poses are rotated around this axis.
Value list: X, Y, Z, None
Default value: X
Instruction: When a specific axis is selected, the rotation result is constrained by that axis direction. When None is selected, no axis constraint is applied during rotation, and the pose rotates automatically so that the "Axis to Rotate" aligns with the reference direction.

Customized Direction

Description: This parameter sets the target direction vector for rotation so that the "Axis to Rotate" aligns with this direction. When the "Customized Directions" input port is not connected, this parameter must be set.
Default value: 0, 0, 1

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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