TLadjustR
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Kinematics and Frames
Introduced first in SolidGeometry 5.1, Creation date: 2021-03-14, Last change: 2025-09-15
takes a List of Frames and adjustst start and end frame to T1 and T2
Description
The ez vector has to show into the right direction.
This function uses diffanglew, and diffTrotz to adjust the start frame of a list to a default and rotate all frames minimally to reach the end frame. Used after TLofCVL, or VLradialEdges2T, or CVLof2T, to build a path between two frames, and VLedgeNormal to determine the contour-following normal vectors. From normal and orthogonal vectors the frame sequence or frame list is generated. The frame list is then adapted to the start orientation and end orientation by twisting.
See Also: diffanglew
Example Illustration
Syntax
TL=TLadjustR(TL,[R1,R2])
Input Parameter
TL: | | Frame list |
R1: | | R or T Matrix |
R2: | | R or T Matrix |
Output Parameter
Examples
T1=TofPez([0 0 0],[1 0 0]);T2=TofPez([100 100 100],[0 -1 0]); SGfigure(-30,30); tplot(T1,40); tplot(T2,40);
CVLof2T(T1,T2,'',10,'rad'); CVL=ans;
TLofCVL(CVL,10,T1,T2,'rad',false,5); TL=ans
TLadjustR(TL,T1,T2)
Copyright 2021-2025 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