Calculate Distance Between Poses

Function Description

Two poses form a vector connecting their centers. This step calculates the length of this vector, or its projected length on the XY plane.

Use Cases

A general-purpose step for pose distance calculation.

Inputs

• Original Poses (Required): The first group of poses, used as the starting point of the distance vector.

• Reference Poses (Optional): The second group of poses, used as the ending point of the distance vector. (When not connected, the step parameter “Reference Pose” takes effect)

Outputs

• Distance: The distance between the two groups of poses in the world coordinate system, or the projected distance on the XY plane (NumberList).

Parameters

Distance Type

dist2ReferencePose: Calculates the distance between original poses and reference poses in the world coordinate system. dist2ReferencePoseOnXYPlane: Calculates the projected distance between original poses and reference poses on the XY plane in the world coordinate system.

Reference Pose

When the “Parameter Pose” port is not used, this value is used to calculate distance with original poses.