# Pose\_trans and pose\_inv functions in URCap

**URL:** <https://forum.universal-robots.com/t/pose-trans-and-pose-inv-functions-in-urcap/1257>\
**Category:** URCaps SDK\
**Created:** [October 13, 2017, 1:26pm UTC](https://forum.universal-robots.com/t/pose-trans-and-pose-inv-functions-in-urcap/1257 "2017-10-13T13:26:15Z")\
**Posts on this page:** 1\
**Showing post:** 6

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**Author:** ![anon51496239](https://avatars.discourse-cdn.com/v4/letter/a/94ad74/32.png) [@anon51496239](https://forum.universal-robots.com/u/anon51496239)\
**Post date:** [July 10, 2019, 4:06pm UTC](https://forum.universal-robots.com/t/pose-trans-and-pose-inv-functions-in-urcap/1257/6 "2019-07-10T16:06:17Z")

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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

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

Pose class that reimplements `pose_trans()` and other functions

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

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

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

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