Getting Variables from a program

[PMonforte]

Thank you for your reply. I seem to find a problem here, nonetheless. I’ll try to elaborate further.
Let’s say I create a program with forty (40) waypoints. These points have their coordinates relative to Base. I then have to create a program in which I will send all these poses via Socket, apply the transformation to a new plane and then re-send them back to my app. I guess this could work but I’ll still try to transform the coordinates mathematically.

The problem I’ve been having is the following: I can transform the X,Y,Z values but not the Rx,Ry,Rz.

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 …

This was helpful but only for x,y,z, not rx,ry,rz

Any help is much appreciated
Best regards
PM