Overview

The Pose Generation node is responsible to generate multiple poses for the robot (gripper pose inside the base coordinates) that can be used for calibration.

Three moving types are available:

• Circle

• Square

• Trapezoid

Input

• Ref Gripper To Base: (DataType: Pose)A Homogeneous matrix that has the initial pose of the gripper that will be used in order to generate the other poses.

• Camera To Gripper: (DataType: Pose)A Homogeneous that could have an initial estimate for the relationship between the camera and the gripper (or the calibration board and the gripper if the Eye-To-Hand configuration is being used). If unknown, an identity matrix is set.

Output

• poses: (DataType: vector<Pose>) a vector of generated poses