Filter Pose by Reference Pose
Function Description
This Step compares the translational and rotational deviations between the input poses and reference poses in a common reference frame, and filters valid poses based on the specified allowable deviation ranges. Before using this Step, ensure that the input poses and reference poses are in the same reference frame.
Usage Scenarios
This Step is applicable to scenarios where poses need to be error-proofed, filtered, or checked for consistency.
Inputs and Outputs
Inputs
| Input Port | Data Type | Description |
|---|---|---|
Poses |
Pose[] |
Poses to be compared. You can input a pose or a list of poses. The Step checks each pose individually to determine whether it is within the allowable deviation ranges. |
Reference Pose |
Pose[] |
The reference pose used for comparison. You can input a pose or a list of poses. If multiple reference poses are input, the Step automatically matches each pose to be compared with the nearest reference pose before comparing the deviations. If this port is not connected, the value set in the parameters is used. |
Parameter Description
| Parameter | Description |
|---|---|
Reference Pose |
The reference pose used for comparison. When the Reference Pose input port is not connected, the Step uses the pose specified here as the only reference pose. |
Translational Deviation Range Settings
| Parameter | Description | ||
|---|---|---|---|
X-Axis Translational Deviation Lower Limit |
Sets the lower limit of the translational deviation between the pose being compared and the reference pose in the X direction. If the deviation is below this value, the pose is considered outside the allowable range.
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X-Axis Translational Deviation Upper Limit |
Sets the upper limit of the translational deviation between the pose being compared and the reference pose in the X direction. If the deviation is above this value, the pose is considered outside the allowable range. |
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Y-Axis Translational Deviation Lower Limit |
Sets the lower limit of the translational deviation between the pose being compared and the reference pose in the Y direction. If the deviation is below this value, the pose is considered outside the allowable range.
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Y-Axis Translational Deviation Upper Limit |
Sets the upper limit of the translational deviation between the pose being compared and the reference pose in the Y direction. If the deviation is above this value, the pose is considered outside the allowable range. |
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Z-Axis Translational Deviation Lower Limit |
Sets the lower limit of the translational deviation between the pose being compared and the reference pose in the Z direction. If the deviation is below this value, the pose is considered outside the allowable range.
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Z-Axis Translational Deviation Upper Limit |
Sets the upper limit of the translational deviation between the pose being compared and the reference pose in the Z direction. If the deviation is above this value, the pose is considered outside the allowable range. |
Rotational Deviation Range Settings
| Parameter | Description | ||
|---|---|---|---|
X-Axis Rotational Deviation Lower Limit |
Sets the lower limit for the angle between the X-axis direction associated with the relative rotation between the pose being compared and the reference pose and the X-axis direction of the common reference frame. If the angle is below this value, the pose is considered outside the allowable range.
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X-Axis Rotational Deviation Upper Limit |
Sets the upper limit for the angle between the X-axis direction associated with the relative rotation between the pose being compared and the reference pose and the X-axis direction of the common reference frame. If the angle is above this value, the pose is considered outside the allowable range. |
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Y-Axis Rotational Deviation Lower Limit |
Sets the lower limit for the angle between the Y-axis direction associated with the relative rotation between the pose being compared and the reference pose and the Y-axis direction of the common reference frame. If the angle is below this value, the pose is considered outside the allowable range.
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Y-Axis Rotational Deviation Upper Limit |
Sets the upper limit for the angle between the Y-axis direction associated with the relative rotation between the pose being compared and the reference pose and the Y-axis direction of the common reference frame. If the angle is above this value, the pose is considered outside the allowable range. |
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Z-Axis Rotational Deviation Lower Limit |
Sets the lower limit for the angle between the Z-axis direction associated with the relative rotation between the pose being compared and the reference pose and the Z-axis direction of the common reference frame. If the angle is below this value, the pose is considered outside the allowable range.
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Z-Axis Rotational Deviation Upper Limit |
Sets the upper limit for the angle between the Z-axis direction associated with the relative rotation between the pose being compared and the reference pose and the Z-axis direction of the common reference frame. If the angle is above this value, the pose is considered outside the allowable range. |