# Calculate pose\_trans **URL:** \ **Category:** Technical Questions\ **Created:** [November 17, 2023, 12:12pm UTC](https://forum.universal-robots.com/t/calculate-pose-trans/31438 "2023-11-17T12:12:17Z")\ **Posts on this page:** 1\ **Showing post:** 4
**Author:** ![cg1](https://avatars.discourse-cdn.com/v4/letter/c/c77e96/32.png) [@cg1](https://forum.universal-robots.com/u/cg1)\ **Post date:** [November 20, 2023, 11:17am UTC](https://forum.universal-robots.com/t/calculate-pose-trans/31438/4 "2023-11-20T11:17:32Z")
Try looking here. > [@Pose\_trans and pose\_inv functions in URCap](https://forum.universal-robots.com/t/pose-trans-and-pose-inv-functions-in-urcap/1257/2): > > 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](http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToMatrix/index.htm)). Then you extend that 3x3 rotation matrix to the 4x4 affine transformation by adding a 4th column vector that corresponds to \, and a 4th row vector \<0,0,0,1\> so it looks like | R | T | |-------+---| | 0 0 0 | 1 … --- _[View the full topic](https://forum.universal-robots.com/t/calculate-pose-trans/31438)._