TofPoseattachmentpoints

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - 4Bar/Linkages
Introduced first in SolidGeometry 4.5, Creation date: 2019-04-22, Last change: 2025-09-14

returns the HT matrices from A1 to Pose and B1 to Pose

Description

quite often it is necessary to transform the effector shape which is relative defined to the pose into the coordinate system of the crank A1 or the Swing B1. This function returns both
TofPose - Frame of A1 from Point A1 and B1
TofPoseGPL - Frames of A1 and B1 from Pose and GPL
TofA1B1GPL - Frame of Pose from A1 and B1 and GPL
TofPoseattachmentpoints - Frames of B1 and A1 from Pose qnd Points A1 and B1


See Also: TofPose , CPLofPosefourbarshape

Example Illustration

missing image of TofPoseattachmentpoints(P1,A1,B1)

Syntax

[TBP,TAP,TA1,TB1]=TofPoseattachmentpoints(P1,A1,B1)

Input Parameter

P1: Absolute Pose coordinates or complete pose consisting of PS.A, PS.B, PS.A1, PS.B1
A1: absolute coordinates of A1 when P1 is reached
B1: absolute coordinates of B1 when P1 is reached

Output Parameter

TBP: TAP=TA1\T0; to transform Pose origin coordinates into absolute Coordinate v TB1*TBP
TAP: TBP=TB1\T0; to transform Pose origin coordinates into absolute Coordinate v TA1*TAP
TA1: TA1=TofPose(A1,B1); % Simple frame in A1 with direction to B1
TB1: TB1=TofPose(B1,A1); % Simple frame in B1 with direction to A1

Examples


Posesample(7); PS=ans;
checkfourbar3Poseattachpermutation(PS,3,10); PS=ans;
PosefourbarselectAP(PS,1); PS=ans;
TofPoseattachmentpoints(PS); TAP=ans
[~,~,~,~,~,TA1,TB1]=PLofPosecouplercurve(PS,1); TA1=TA1(:,:,50), TB1=TB1(:,:,50)
cla; Posefourbarplot(PS,1)
PLofPosecouplercurve(PS)
CPLplot(PLtransT(PLarrow(5),TA1*TAP),'m-',2)
CPL=CPLlinkofPL([0 0;norm(TA1(1:2,3)-TB1(1:2,3))' 0;TAP(1:2,3)']); CPSplot(PLtrans(CPL,TA1),'m');



Copyright 2019-2025 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