Calc Included Angles between Specified Axes of Poses

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Function

This Step is used to calculate the angle between the specified axes of two poses.

Usage Scenario

This Step is a general pose angle calculation Step. No fixed usage scenarios.

Input and Output

Input

Input port Data type Description

First Poses

Pose[]

First pose list used to calculate the included angle

Second Poses

Pose[]

Second pose list used to calculate the angle of inclusion

Output

Output port Data type Description

Angle

Number[]

List of calculated angle values.

Parameter Description

Parameter Description

Axis to be Specified

Description: This parameter is used to specify the direction of the pose axis involved in the angle calculation. This Step extracts the direction vectors corresponding to the axes in the two input poses respectively and calculates the angles between them.
Value list: X, Y, Z
Default setting: Y

Axis to Be Rotated

Description: This parameter specifies the rotation reference axis for calculating the angle. Based on the first pose, determines the rotation direction of the specified axis around the specified rotation axis to the specified axis of the second pose, and then determines the positive and negative signs of the angles. When the angle is in the positive direction of the selected rotation axis, if the rotation direction is counterclockwise, the angle is positive.
Value list: X, Y, Z
Default setting: Z

Output Absolute Value

Description: This parameter is used to determine whether to output the absolute value of the angle.
Default setting: Unselected
Instruction: When this option is selected, the output result is the absolute angle between the specified axes of the two poses. When this option is not selected, the output result contains a positive and negative sign, which can be used to indicate the rotation direction.

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