Coordinate transforms with PGA

Hey! I’ve got the description for several local coordinate systems in an 3D euclidean space given in the form of a rotation matrix (which represents the basis orientation of the local CS) and a translation vector (which represents the origin of the local CS). Now I want to calculate a motor (is this the correct word?) from these descriptions to transform points (or other objects) from one local CS into another local CS. I thought about calculating lines in the coordinate direction of the different local CS from their base orientation matrix. From the translation vector, one could calculate the translation transformation. Is this the correct way? Or is there any better suited algorithm, which I missed? At the end I want to have a collection of motors to calculate transformations between these local CS. Has anybody any hint for me? :smile_cat:

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