Pose_trans and pose_inv functions in URCap

paul.weidinger · July 10, 2019, 4:06pm

Sure @dmartin. I wrote 3 classes to use for client-side matrix and pose transformation math in Java. Built it from the links above. Hopefully the comments are able to direct you further.

Matrix class for standard matrix manipulation

gist.github.com

https://gist.github.com/pweids/5421694c969bad4bacb31599d6a20861

Matrix.java

/**
* A Matrix class with relevant manipulations and representations.
*
* @author  Paul Weidinger
*/
import java.util.Arrays;

public class Matrix {
	
	double[][] matrix;

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Pose class that reimplements pose_trans() and other functions

gist.github.com

https://gist.github.com/pweids/dbbf1903b0d4cb857ddaa42725b61c7d

Pose.java

/**
* This class will represent a pose and reimplement UR's pose functions

* @author  Paul Weidinger
*/

import java.text.DecimalFormat;
import java.util.List;
import java.util.Vector;

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Axis-Angle class to help with converting and using rotation-vector style notation

gist.github.com

https://gist.github.com/pweids/8f1b041ed4c308c40c8dda5df0721f31

AxisAngle.java

public class AxisAngle {

	double[][] rotMat;
	double[] rotVec;
	double _angle;
	double _x;
	double _y;
	double _z;

	public AxisAngle(double[] rotVec) {

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Pose_trans and pose_inv functions in URCap

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