Pose subtraction

Parameters

p_to: tool pose (spatial vector)

p_from: tool pose (spatial vector)

Return Value

tool pose transformation (spatial vector)

Example command: pose_sub(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[0.0,0.0,-0.5,0.0,.0.,0.0]