Calculate Included Angles Between Specified Axes of Poses

Function Description

Calculates the angle between specified axes of two poses. Pose 1 rotates around its set rotation axis until the angle between its specified axis and the specified axis of Pose 2 is minimized. The angle of rotation around the fixed axis at that moment is the angle result.

Use Cases

General-purpose pose angle calculation step with no fixed application scenario.

Inputs

  • First Poses (Required): First group of poses for angle calculation.

  • Second Poses (Required): Second group of poses for angle calculation.

Outputs

  • Output Angles: Calculated angle.

Parameters

  • Axis to Specify: Selects the coordinate axis to use for angle calculation for each pose.

    • X Axis: Calculates the angle between the X axes of the two poses.

    • Y Axis: Calculates the angle between the Y axes of the two poses.

    • Z Axis: Calculates the angle between the Z axes of the two poses.

  • Axis to Rotate: Determines the reference rotation axis for the positive/negative direction of the angle (according to the right-hand rule). Clockwise rotation angle of the pose axis is positive. Options: X/Y/Z. Used when directionality needs to be distinguished; if only the angle size is of concern, check the “Output Absolute Value” parameter.

  • Output Absolute Value

    • Unchecked: Indicates outputting the signed angle, distinguishing positive and negative directions.

    • Checked: Indicates outputting only the absolute angle value, without distinguishing direction.