Math behind Pose_inv & Pose_trans

Technical Questions
1

Dear Forum,

I am wondering what is the math behind Pose_trans and Pose_inv functions ?
I would like to make a little function in Labview to perform the following conversion:

Point in Base = p[0.45311, 0.30546, 0.47648, 4.071, -0.539, -2.517]
Feature plane “display” = p[0.53916, 0.25017, 0.33852, 0.72307, -0.77053, -1.38234]

After applying the following formula within a program:

Point in Display: pose_trans(pose_inv(display), get_actual_tcp_pose()).
which results in this: p[-0.05104, 0.0677, 0.14934, 1.727, -0.221, -2.762]

Problem: I want to know the math (for dummies :slight_smile: since I am not a mathematician) behind pose_inv and pose_trans functions to convert a point from Base to Feature plane locally in labVIEW. without the need to run a program on the robot to get this conversion.

2

Here’s a link talking a little bit about what the robot is doing. I would try to leverage LabView to get you the elements of the math that you need.
For example:

I’ve never used LabView, so don’t hold me to that, I just did some simple googling. Looks like there’s a handful of functions for producing/computing rotation matrices and transforms in there.