Pose addition

Both arguments contain three position parameters (x, y, z) jointly called P, and three rotation parameters (R_x, R_y, R_z) jointly called R. This function calculates the result x_3 as the addition of the given poses as follows:

p_3.P = p_1.P + p_2.P

p_3.R = p_1.R * p_2.R

Parameters

p_1: tool pose 1(pose)

p_2: tool pose 2 (pose)

Return Value

Sum of position parts and product of rotation parts (pose)

Example command: pose_add(p[.2,.5,.1,1.57,0,0], p[.2,.5,.6,1.57,0,0])

• Example Parameters:
  • p_1 = p[.2,.5,.1,1.57,0,0] -> The first point
  • p_2 = p[.2,.5,.6,1.57,0,0] -> The second point
    • Returns p[0.4,1.0,0.7,3.14,0,0]