RobotStudio event

GlobalMatrix vs Matrix

Options
Matthias
Matthias
in RobotStudio
Hello,

may anyone please tell me the difference between GlobalMatrix and Matrix?

Best Regards,
Matthias

Comments

  • Niklas Skoglund
    Niklas Skoglund admin
    Options

    Hello Matthias,

    Matrix and GlobalMatrix are properties of the Transform class. Many RobotStudio objects have a property called Transform, returning a Transform.

    Transform.Matrix will return the local transform, i.e the transform relative the objects parent in the transform hierarchy.

    GlobalMatrix will return the transform relative the world coordinate system.

    Note that you can get and set Transform.Matrix, but only get Transform.GlobalMatrix.

    GlobalMatrix "walks up" the entire transform hierarchy in order to calculate the transform from the world coordinate system to the object.

    Niklas Skoglund2008-3-7 18:35:51

    Best Regards, Niklas Skoglund
    ABB Robotics

    Developer Center
    RobotStudio Blog
  • Matthias
    Matthias
    Options

    [QUOTE=Niklas Skoglund]
    Note that you can get and set Transform.Matrix, but only get Transform.GlobalMatrix.
    [/QUOTE]

    Ah, thanks. That explains why my code did not work as expected :)

    Best Regards,
    Matthias

Categories

In this Discussion