Rotate Axis to Minimize Included Angle to Reference Direction

Function

Adjust axes of poses to the direction with the smallest angles to the reference directions around selected pose axes within symmetry constraints.

../../../../../_images/rotate_axis_to_minimize.png

Usage Scenario

For various scenarios where pose orientations need to be adjusted. This Step belongs to an earlier version. Please instead use Rotate Poses to Directions Freely which is newer and has a wider range of functions, and use it with Easy Create Vector3Ds.

Input and Output

../../../../../_images/input_output_36.png

Parameters

Visualization Settings

Pose Type to Visualize
Instruction: This parameter decides the type of pose to visualize.
List of options:

  • Before (Pose before processing)

  • After (Pose after processing)

  • All (All poses before and after processing)

Default setting: After

Use Reference Point

Description: This parameter is used to select whether to use the base point to calculate reference direction. When the option is selected, you need to set the parameters in Reference Point Settings.
Default setting: Unselected
Instruction: Select the option only when you use the base point to calculate reference direction. The direction constructed starts from the input pose and points to the reference point.

Reference Point Settings

Use Relative Z
Description: This parameter decides whether to replace the Z value of the reference point: Z value of reference point = original pose Z value + relative value
Default value: Unselected
X
Description: The X coordinate value of the reference point.
Default value: 0.0000
Y
Description: The Y coordinate value of the reference point.
Default value: 0.0000
Z
Description: The Z coordinate value of the reference point.
Default value: 0.0000
Relative Z
Description: The relative translation value in the Z direction. When Use Relative Z is selected, you need to set this parameter.
Default value: 0.0000

Axis Settings

Fixed Axis
Description: This parameter specifies the axis that remains invariant during the pose rotation.
List of options: X, Y, Z
Default setting: Y
Rotated Axis
Description: This parameter is used to select the axis that rotates to a specified direction.
List of options: X, Y, Z
Default setting: Z

Reference Direction Settings

X
Description: The direction vector of the reference axis X.
Default value: 0.0000
Y
Description: The direction vector of reference axis Y.
Default value: 0.0000
Z
Description: The direction vector of the reference axis Z.
Default value: 1.0000