Calculate pose_trans

[cg1]

Try looking here.

Pose_trans and pose_inv functions in URCap

For future readers, I managed to re-implement pose_trans and pose_inv in java. You first have to convert the pose to an affine transformation. To do this, you need to calculate the rotation vector as a 3x3 rotation matrix (see Maths - AxisAngle to Matrix - Martin Baker). Then you extend that 3x3 rotation matrix to the 4x4 affine transformation by adding a 4th column vector that corresponds to <x,y,z,1>, and a 4th row vector <0,0,0,1> so it looks like | R | T | |-------+---| | 0 0 0 | 1 …