pose_composeT_pose_composePoseComposePoseCompose (Operator)

Name

pose_composeT_pose_composePoseComposePoseCompose — Combine 3D poses given in two tuples.

Signature

Description

pose_composepose_composePoseComposePoseComposePoseCompose combines the poses in the tuples, PoseLeftPoseLeftPoseLeftPoseLeftposeLeft and PoseRightPoseRightPoseRightPoseRightposeRight. If both tuples contain the same number of poses, the corresponding elements of both tuples are composed. Otherwise, either tuple PoseLeftPoseLeftPoseLeftPoseLeftposeLeft or PoseRightPoseRightPoseRightPoseRightposeRight 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 PoseComposePoseComposePoseComposePoseComposeposeCompose are therefore the result of applying the corresponding poses in PoseLeftPoseLeftPoseLeftPoseLeftposeLeft and PoseRightPoseRightPoseRightPoseRightposeRight in sequence.

First, the respective poses in PoseLeftPoseLeftPoseLeftPoseLeftposeLeft and PoseRightPoseRightPoseRightPoseRightposeRight 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 PoseComposePoseComposePoseComposePoseComposeposeCompose.

If the respective poses in PoseLeftPoseLeftPoseLeftPoseLeftposeLeft and PoseRightPoseRightPoseRightPoseRightposeRight 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

Result

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

Possible Predecessors

read_poseread_poseReadPoseReadPoseReadPose, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPose, create_posecreate_poseCreatePoseCreatePoseCreatePose, convert_pose_typeconvert_pose_typeConvertPoseTypeConvertPoseTypeConvertPoseType, pose_invertpose_invertPoseInvertPoseInvertPoseInvert

Possible Successors

convert_pose_typeconvert_pose_typeConvertPoseTypeConvertPoseTypeConvertPoseType

Alternatives

hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposeHomMat3dCompose, dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatCompose

See also

pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3d, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPose, hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposeHomMat3dCompose

Module

Foundation