02-08-2019, 07:28 AM

Hello,

Is there a way to extract rotation matrix? The Mat which is returned when calling robot.SolveFK contains the information about the pose of the robot where the first three elements of last column represent the X,Y,Z positions. Is the 3x3 (first three cols and first three rows) of Mat is rotation matrix? If I use the Pose_2_TxyzRxyz and then construct the rotation matrix using Euler angle convention rotz*roty*rotx (I am not sure if this method is right), I end up with different result than 3x3 of Mat. I would appreciate any help.

Best Regards

Is there a way to extract rotation matrix? The Mat which is returned when calling robot.SolveFK contains the information about the pose of the robot where the first three elements of last column represent the X,Y,Z positions. Is the 3x3 (first three cols and first three rows) of Mat is rotation matrix? If I use the Pose_2_TxyzRxyz and then construct the rotation matrix using Euler angle convention rotz*roty*rotx (I am not sure if this method is right), I end up with different result than 3x3 of Mat. I would appreciate any help.

Best Regards