Sign issue for PoseMult

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Hallo,
I have a doubt about PoseMult:
I have pose1 = [0,0,0],[7.75081E-8, 1.38402E-8, 1, -0.000955279] 
and pose2 = [0,0,0],[0,1,0,0]
I do PoseMult(pose1,pose2) and I get:
 [0,0,0],[1.38402E-8, 7.75081E-8, -0.000955279, -1]

But if I use a Quaternion Calculator I get for the orientation q2*q1:
 [-1.38402E-8, 7.75081E-8, 0.000955279, 1]

Same numbers but different signs.
I try different ways but always I get this difference just in the signs:

why ?

Thanks a lot 

Answers

  • DenisFR
    DenisFR ✭✭✭
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    Hello,
    Using my ABB_RAPID_Prog_Helper, I get nearly the same:

    RX: 0.10946697651160742 <-> 0.10946697651136156
    RY: 8.880258972229301E-06 <-> -8.883289060082512E-06
    RZ: -179.99999840554534 <-> -179.99999842251447

    Can you make your test with more angle?