Set Pose Quaternions
Function
This Step is used to set the orientations of poses (in quaternions) by the reference pose input from the second port, or the quaternion set in the parameter.
Usage Scenario
This Step is a general pose quaternion setting Step. If the reference pose list contains multiple poses, only the quaternion of the first pose will be used.
Input and Output
Parameter Description
Quaternions
|
If the input port "List of reference poses" is connected, the quaternion of the first reference pose takes precedence. The quaternion settings in this parameter group are used only when no List of reference poses is provided. |
|
The quaternions used for setting must be normalized quaternions. A quaternion normalization check will be performed when the Step is executed. If the check fails, an error will be reported. |
| Parameter | Description |
|---|---|
W |
Parameter description: This parameter is used to set the W component of the quaternions.
|
X |
Parameter description: This parameter is used to set the X component of the quaternions.
|
Y |
Parameter description: This parameter is used to set the Y component of the quaternions.
|
Z |
Parameter description: This parameter is used to set the Z component of the quaternions.
|