Calculate Distance Between Two Poses Along Specified Direction

Function Description

Calculates the distance between the centers of two poses along a specified direction.

Use Cases

General-purpose pose distance calculation step. Commonly used when only caring about displacement differences in a specific direction.

Inputs

  • First Pose: First group of poses for distance calculation.

  • Second Pose: Second group of poses for distance calculation.

Outputs

  • Distance: Projection distance of the two groups of poses along the specified coordinate axis, coordinate plane, or in 3D space (scalar value).

Parameters

  • Specified Axis or Axis Combination: Selects the coordinate axis, coordinate plane, or coordinate system for distance calculation.

    • X, Y, or Z: Calculates the projection distance between the two poses along the X, Y, or Z axis.

    • XY, XZ, or YZ: Calculates the projection distance between the two poses on the XOY, XOZ, or YOZ plane.

    • XYZ: Calculates the distance between the two poses in the world coordinate system.

    • None: Does not specify a coordinate axis or axis combination.