# Orientate orthogonal to point [closed]

Hello,

I am having some trouble regarding tf and orientation. I am trying to have one of my manipulators point directly towards another point in space. By this I mean that the new orientation of the manipulator should be such that the given point is on the x-axis of its reference frame.

How would this be accomplished, for example using quaternions? I imagine this could, for example be done by obtaining the Euler angles from the vector in the current reference frame and converting that into a quaternion. But perhaps there is a more elegant solution?

Cheers, Brick

Assuming the position of your manipulator is fixed, finding RPY from the vector (directed to interest point from manipulator position) seems the way to go. If manipulator position is not fixed, there are many solutions.