SGTsetorigin

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Kinematics and Frames
Introduced first in SolidGeometry 3.9, Creation date: 2017-06-26, Last change: 2025-09-14

moves the solid into a position that the base frame become the origin

Description

The position of the vertices and of the frames are moved
Since it is a robotics kinematic function, the frame is turned with 'z' downwards. IN case that you need the expecte match ('matchT') use '-' before the frame otherwise it is the 'alignT' condition.

See Also: SGtransT , SGTget , SGtransrelSG , SGtransrelT

Example Illustration

missing image of SGTsetorigin(SG,Nam)

Syntax

SGN=SGTsetorigin(SG,Nam)

Input Parameter

SG: Solid geometry
Nam: Name of a frame or ez vector

Output Parameter

SGN: spatial transformed SG

Examples


loadweb JACO_robot.mat
SGTsetorigin(JCF,'B') % z-vector is downwards - equivalent to 'alignT' with eye(4)
SGTsetorigin(JCF,'-B') % z=vector is upwards - equivalent to 'matchT' with eye(4)



Copyright 2017-2025 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