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GlobalMatrix vs Matrix

Matthias
Matthias ✭
in RobotStudio
Hello,

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

Best Regards,
Matthias

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  • Niklas Skoglund
    Niklas Skoglund ✭✭✭

    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

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  • Matthias
    Matthias ✭

    [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

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