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I have 2 Parallel poses with different origins and different X axis directions (Y is parallel):

  • First pose is my ground plane. X is horizontal, Y is vertical, Z is depth.
  • Second pose, is somewhere above the first pose floating in the room, with the Y Axis parallel to the first pose's Y axis.. X and Z can be rotated along the Y axis...

What I need, is a third pose that is The second pose, but lowered onto the first pose, so that Y0 of the third pose is the same as the Y0 of the first pose.

I am going crazy about this, cant figure out how to do it. any help appreciated...

EDIT: I have updated the question to simplify the problem a little bit.

sharkyenergy
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  • Is the difference (pose) between the origins known? * Ground plane create_pose (0, 0, 0, 0, 0, 0, 'Rp+T', 'gba', 'point', Ground_plane) * Floating object (Pose above ground plane, y-axis is parallel to ground plane's y-axis (x, z are turned away)) create_pose (0, 0, 100, 0, 42, 0, 'Rp+T', 'gba', 'point', Second_pose) * Get z-axis distance z_dist := Second_pose[2] - Ground_plane[2] * Copy parallel pose Third_pose := Second_pose * Edit z-value Third_pose[2] := Third_pose[2] - z_dist * Shouldn't the only thing to add now be the difference between the origins? – Malinko Jan 09 '23 at 16:05

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