how to obtain the location of a point with respect to the global coordinate system in vrml

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saurabh korgaonkar 2012-12-18

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I have created a vrml project of a robotic arm with the code for controlling the simulation in matlab. Trouble I am facing is how to obtain the global coordinate of a center of a shape like a box. which is a children of a transform node and not in the top level. I tried the following code but it gives center with respect to the local coordinate system

wh=vrworld('Robot1.wrl'); 
open(wh);
view(wh);
a=wh.gripper.center

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Answer 1

Jan Houska 2012-12-20

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If you want to read global coordinates, it is recommended to wrap the object by a Transform node. Then, it is possible to read the coordinates of that Transform node with the "_abs" suffix, which returns global coordinates. E.g.

Node.translation_abs

Please see the

vrmanipul_global

model for an example of reading global coordinates.