SGTregisterframes

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Kinematics and Frames
Introduced first in SolidGeometry 5.0, Creation date: 2020-12-05, Last change: 2025-09-15

finds the optimal HT matrix to register two sets of frames

See Also: SGTsetofRL

Example Illustration

missing image of SGTregisterframes(A,B,NA,NB,usez)

Syntax

[T,NSB,A]=SGTregisterframes(A,[B,NA,NB,usez])

Input Parameter

`A`:		Solid A
`B`:		Solid B
`NA`:		Frame name wildcard or cell list of A; default is empty
`NB`:		Frame name wildcard or cell list of B; default is NA
`usez`:		if true, only set with same ez are options; default is true

Output Parameter

`T`:		Transformation Matrix
`NSB`:		Transformed Sold with removed Frames
`A`:		Solid with removed Frames

Examples


load Yannick_robot.mat
SGTsetofRL(YKShoulder,'','Servo'); A=ans
SGTsetofRL(YKShoulderServo,'','Screw'); B=ans
SGTregisterframes(A,B,'Servo','Screw')
SGTregisterframes(A,B,{'Servo03','Servo05','Servo07'},{'Screw02','Screw07','Screw05'})

Copyright 2020-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth

Last html export of this page out of FM database by TL: 2025-09-21