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2015-12-12 08:39:41 -0500 | answered a question | Orientate orthogonal to point I have tried the following but I'm not getting any correct results so far: My idea is to construct the orientation with respect to my world frame, so all vectors I am using here have been appropriately transformed into my world coordinate system. My steps (as detailed in the code above) are as follows:
In most cases where I get a valid pose, the direction of my forward axis is actually completely wrong. It should be pointing the other way... Any ideas on what I may be missing here? The only thing I can think of right now is that the rotation axis may end up being incorrect.. |
2015-12-11 13:17:03 -0500 | asked a question | Orientate orthogonal to point 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 |