Moving Wobj by Robtarget
Dzmitry
Poland ✭
Answers

Can you elaborate some more please? Is it really just one point or are you talking many points? Is wobj_2 exactly the same as wobj_1 or different?Lee Justice0

Yes, it's just one point.
wobj_2 is not the same as wobj_1.0 
I have not tested this but basically this is a matrix equation.
Both poses have in common that they end up in the same pose wrt to the robot base.
So P2 in wobj2 = P1 in wobj1
PoseMult(Wobj2.pose,P2.pose) = PoseMult(Wobj1.pose,P1.pose)
PoseMult(PoseMult(Wobj2.pose,P2.pose),PoseInv(P2.pose)) = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
this is what I am unsure about, does the left side equal wobj2 now?
Wobj2.pose = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
Try it out!0 
guillaumebatun said:I have not tested this but basically this is a matrix equation.
Both poses have in common that they end up in the same pose wrt to the robot base.
So P2 in wobj2 = P1 in wobj1
PoseMult(Wobj2.pose,P2.pose) = PoseMult(Wobj1.pose,P1.pose)
PoseMult(PoseMult(Wobj2.pose,P2.pose),PoseInv(P2.pose)) = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
this is what I am unsure about, does the left side equal wobj2 now?
Wobj2.pose = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
Try it out!0
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