Translate Poses Along Customized Direction by Distances

You are currently viewing the documentation for the latest version (2.2.0). To access a different version, click the "Switch version" button located in the upper-right corner of the page.

■ If you are not sure which version of the product you are currently using, please feel free to contact Mech-Mind Technical Support.

Function

This Step translates input poses along a customized direction. The translation direction and distance can be obtained through input ports or set in step parameters.

Usage Scenario

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

Input and Output

Input

Input port Data type Description

Original Poses

Pose[]

Poses input to this port will be translated.

Customized Distances

Number[]

Translation distances of the poses (optional, if this port is not used, the setting in the parameter will be used).

Output

Output port Data type Description

Translated Poses

Pose[]

Translated 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

Customized Direction

Description: This parameter sets the customized direction vector used for translation. This direction serves as the directional basis for pose translation.
Default value: 0, 0, 1

Translation Distance

Description: This parameter sets the translation distance along the customized direction. When the "Customized Distances" input port is not connected, this parameter must be set.
Default value: 100.000 mm
Instruction: A positive distance translates poses along the customized direction; a negative distance translates poses in the opposite direction.

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

Is this page helpful?

You can give a feedback in any of the following ways:

We Value Your Privacy

We use cookies to provide you with the best possible experience on our website. By continuing to use the site, you acknowledge that you agree to the use of cookies. If you decline, a single cookie will be used to ensure you're not tracked or remembered when you visit this website.

  • Preference
  • I accept
  • I don't accept