🟧 Synthesize Pose

Function Description

This operator can synthesize a pose through two direction vectors, i.e., use one main direction and one auxiliary reference direction to uniquely determine a pose.

The specific method is: the operator uses the "fixed direction" as the benchmark, whose direction remains unchanged in the final pose, and calculates the other two axes perpendicular to the main direction based on the "reference direction", finally outputting the rotation vector.

Usage Scenarios

Suitable for scenarios that need to define target poses based on direction vectors.

Input Output

Input

Fixed Direction for Pose Generation: A list of one or more main direction vectors.

Reference Direction for Pose Generation: A list of one or more auxiliary reference direction vectors.

Output

Synthesized Pose Information: Output rotation vector list.

Parameter Description

  • The "axis vector represented by fixed direction" and "axis vector represented by reference direction" must be set to different axes, otherwise the operator will report an error.

  • The input "fixed direction" vectors and "reference direction" vectors cannot be parallel, otherwise they cannot form a valid plane to determine the third axis, and the operator will also report an error.

  • Regarding input list lengths:

    • If the two input lists have different lengths, but one list has length 1, the operator will automatically replicate and extend the unique element of this length-1 list to match the other list.

    • If both lists have lengths greater than 1 and are not equal, the operator will report an error.

Axis Vector Represented by Fixed Direction

Parameter Description

Used to specify which axis of the final output pose the input vector represents.

Parameter Adjustment

For example, if "Z-axis" is selected, then the input main direction vector will become the Z-axis vector of the output pose.

Axis Vector Represented by Reference Direction

Parameter Description

Used to specify which axis reference direction the input vector provides.

Parameter Adjustment

Provides a second constraint for pose determination, and the selected axis must be different from the "axis vector represented by fixed direction".