Translate Poses along Given Direction

Function

This Step translates poses along a given direction.

../../../../../_images/translate_poses_along_given_direction.png

Usage Scenario

This Step translates poses according to the direction and distance set by the user.

Input and Output

../../../../../_images/input_output_16.png

Parameters

Visualization Settings

Show Point Cloud in Selected Frame
Default setting: Robot Coordinate
List of options: Robot Coordinate, Camera Coordinate
Instruction: Please refer to Display point clouds in a specified reference frame for detailed instructions.
Pose Type to Visualize
Default setting: After
List of options: Before, After, All
Instruction: This parameter decides the type of pose to visualize, including pose after processing, pose before processing, and poses before and after processing.

Translation Direction Settings

Translation Distance
Default setting: 0
Instruction: Set the parameter according to actual situation.
Translation Direction Source
Default setting: CustomizedDirection (Translate along the customized direction.)
Options: CustomizedDirection (Translate along the customized direction.), ObjectAxis (Translate along the direction of the specified axis of the pose.)
Instruction: Set the parameter according to actual situation.

Hint

When ObjectAxis is selcted, you will need to select an axis according to the actual situation.

../../../../../_images/object_axis.png

CustomizedDirection (This option will only appear when CustomizedDirection is selected.)

X
Default value: 0
Y
Default value: 0
Z
Default value: 1

Examples

  • The figure below shows the pose before and after being translated 0.03 m along the X axis of the object reference frame. In this example, ObjectAxis is selected as the Translation Direction Source; the specified axis is the X axis; and the Translation Distance is set to 0.03.

    ../../../../../_images/translation_distance_1.png

  • The figure below shows the pose before and after being translated 0.03 m along the Y axis of the object reference frame. In this example, ObjectAxis is selected as the Translation Direction Source; the specified axis is the Y axis; and the Translation Distance is set to 0.03.

    ../../../../../_images/translation_distance_2.png

  • The figure below shows the pose before and after being translated 0.08 m along the Z axis of the object reference frame. In this example, ObjectAxis is selected as the Translation Direction Source; the specified axis is the Z axis; and the Translation Distance is set to 0.08.

    ../../../../../_images/translation_distance_3.png

  • When CustomizedDirection is selected as the Translation Direction Source, you will need to set the values of X, Y, and Z in CustomizedDirection. As shown in the figure below, the path from the origin O to A (X, Y, Z) is the direction for the pose translation.

    ../../../../../_images/translation_distance_4.png

    The figure below shows the pose before and after being translated 0.08 m along the customized direction. In this example, the values of X, Y, and Z are all set to 5, and the Translation Distance is set to 0.08.

    ../../../../../_images/translation_distance_5.png