What is the proper way to use posemult and poseinv to copy a robtarget to another wobj?
I've tried searching the web and reading the tech ref manual but everything i found left me more confused and asking more questions.
Posemult and Poseinv question
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jarm -
September 20, 2024 at 1:23 PM -
Thread is Unresolved
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this is all out of memory.
CodePoseToCopy:=[RtToCopy.trans,RtToCopy.rot]; PoseInNewWobj:=PoseMult(PoseInv(PoseMult(NewWobj.Oframe,OldWobj.Uframe)),PoseMult(PoseMult(OldWobj.Oframe,OldWobj.Uframe),PosetoCopy); RtInNewWobj:=RtToCopy; !to copy all the extra information RtInNewWobj.trans:=PoseInNewWobj.trans; !to copy the translatoric part RtInNewWobj.rot:=PoseInNewWobj.rot; !to copy the rotatoric partor step by step
Code
Display MorePoseToCopy:=[RtToCopy.trans,RtToCopy.rot] FullOldWobj:=PoseMult(PoseMult(OldWobj.Oframe,OldWobj.Uframe); !to get the whole OldWobj PoseInWorld:=PoseMult(FullOldWobj,PosetoCopy); !to get RtInWorld NewWobj:=PoseInv(PoseMult(NewWobj.Oframe,OldWobj.Uframe)); to get Inverted whole NewWobj PoseInNewWobj:=PoseMult(InvNewWobj,RtInWorld); to get the rob target in relation to new Wobj RtInNewWobj:=RtToCopy; !to copy all the extra information RtInNewWobj.trans:=PoseInNewWobj.trans; !to copy the translatoric part RtInNewWobj.rot:=PoseInNewWobj.rot; !to copy the rotatoric parti hope my memory was not playing a trick on me.
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