Assemble Pose Node

Overview

The Assemble Pose node creates a 4x4 homogeneous transformation matrix from 3 translation numbers (in millimeters) and 3-4 rotation numbers (in degrees).

Three main conventions are available for the rotation numbers:

• Euler Angles: 3-number representation in the orders: XYZ, XZY, YXZ, YZX, ZXY, ZYX, and ZYZ.

• Axis Angle: 3-number representation of axis with angle magnitude.

• Quaternion: 4-number representation of a quaternion rotation.

Input and Output

Input (optional)	Type	Description
Pos X	Double	Generated pose’s translation on X-axis.
Pos X	Double	Generated pose’s translation on Y-axis.
Pos Y	Double	Generated pose’s translation on Z-axis.
Rotate X	Double	Generated pose’s rotation on X-axis.
Rotate Y	Double	Generated pose’s rotation on Y-axis.
Rotate Z	Double	Generated pose’s rotation on Z-axis.
Rotate W	Double	the rotation around the vector (only used for quaternion rotation).
Order	Int	Select from a dropdown list to choose the order of the generated pose. Orders are: XYZ, XZY, YXZ, YZX, ZXY, ZYX, ZYZ, Axis Angle and Quaternion.

Output	Type	Description
Pose	Pose	A Homogeneous transformation corresponding to the inputs pose

Procedure to Use

1. Right click the node where you want to insert and insert an Assemble Pose node.

   

2. Input the pose value and select the pose order.

   

3. Run the node, and you can access this pose as 3D pose for other nodes’ input (eg. transformation Tree Node, Robot Write Node).