pose_composeT_pose_composePoseComposePoseComposepose_compose (Operator)

Name

pose_composeT_pose_composePoseComposePoseComposepose_compose — Combine 3D poses given in two tuples.

Signature

pose_compose( : : PoseLeft, PoseRight : PoseCompose)

Description

pose_composepose_composePoseComposePoseComposePoseComposepose_compose combines the poses in the tuples, PoseLeftPoseLeftPoseLeftPoseLeftposeLeftpose_left and PoseRightPoseRightPoseRightPoseRightposeRightpose_right. If both tuples contain the same number of poses, the corresponding elements of both tuples are composed. Otherwise, either tuple PoseLeftPoseLeftPoseLeftPoseLeftposeLeftpose_left or PoseRightPoseRightPoseRightPoseRightposeRightpose_right must contain only one pose. In this case, the composition is performed for each pose of the longer tuple with the single pose of the other tuple. For each composition, the poses are interpreted as transformations of coordinate systems. The poses in tuple PoseComposePoseComposePoseComposePoseComposeposeComposepose_compose are therefore the result of applying the corresponding poses in PoseLeftPoseLeftPoseLeftPoseLeftposeLeftpose_left and PoseRightPoseRightPoseRightPoseRightposeRightpose_right in sequence.

First, the respective poses in PoseLeftPoseLeftPoseLeftPoseLeftposeLeftpose_left and PoseRightPoseRightPoseRightPoseRightposeRightpose_right are transformed into the corresponding homogeneous transformation matrices H1 and H2. H1 is then multiplied with H2. The resulting matrix H1* H2 is converted into a pose and returned at the corresponding index in tuple PoseComposePoseComposePoseComposePoseComposeposeComposepose_compose.

If the respective poses in PoseLeftPoseLeftPoseLeftPoseLeftposeLeftpose_left and PoseRightPoseRightPoseRightPoseRightposeRightpose_right have different types, the default pose type 0 ('Rp+T', 'gba', 'point') is returned. Otherwise, the returned poses have the same types as the poses used for their composition.

Execution Information

Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
Processed without parallelization.

Parameters

PoseLeftPoseLeftPoseLeftPoseLeftposeLeftpose_left (input_control) pose(-array) → (real / integer)

Tuple containing the left poses.

PoseRightPoseRightPoseRightPoseRightposeRightpose_right (input_control) pose(-array) → (real / integer)

Tuple containing the right poses.

PoseComposePoseComposePoseComposePoseComposeposeComposepose_compose (output_control) pose(-array) → (real / integer)

Tuple containing the returned poses.

Result

pose_composepose_composePoseComposePoseComposePoseComposepose_compose returns 2 (H_MSG_TRUE) if all parameters are valid. If necessary, an exception is raised.