Hi out there.
So I have a question in terms of trying to rotate a BASE frame.
So below I have a yellow box and a green box. I know the following:
1) I know the intersection point i.e. where the origin of the two BASEs are.
2) I know the center of the yellow box, which is indicated by the yellow small circle.
3) I know the angle between the yellow box and the green box.
4) I know the dimension of the box. Width is 500 mm and length is 700 mm.
What I would like to get is:
a) I want to calculate the green small circle location.
My idea was as followed:
1) Can I not just create a BASE_normal frame and then do something like this:
$BASE_normal.X = 0
$BASE_normal.Y = 0
$BASE_normal.Z = 0
$BASE_normal.A = 0
$BASE_normal.B = 0
$BASE_normal.C = 0
Then generate a new base like this:
$BASE_rotated.X = 0
$BASE_rotated.Y = 0
$BASE_rotated.Z = 0
$BASE_rotated.A = angle
$BASE_rotated.B = 0
$BASE_rotated.C = 0
And then I using the information of the WIDTH and LENGTH of the box. (i.e. green and yellow are the same size)
$BASE_rotated.X = LENGTH /2
$BASE_rotated.Y = WIDTH /2
Will I from there, be able to have the green circle location vased on the $BASE_rotated and from there I can order the robot to drive there?
Or should I go the otherway of using the rotation matrix, i.e.