Display Value Format Settings

Overview

In Choreonoid, you can switch the format in which values such as link positions and joint angles are displayed and entered on the GUI. The following items can be configured.

  • The unit of length values (meter / millimeter / kilometer) and the number of decimals

  • The unit of angle values (degree / radian) and the number of decimals

  • The coordinate system (right-handed / left-handed)

For example, you can use these settings when you want to display and enter lengths in millimeters following the CAD convention, when you want to use the kilometer unit to handle a wide-area environment, or when you want to check angles in radians.

Note that these settings only concern the display and input of values on the GUI. The internal calculations of Choreonoid are always performed in SI units (meters for lengths and radians for angles) with the right-handed coordinate system, and the units of the values described in model files and project files do not change.

DisplayValueFormatBar

The above settings are switched with the “DisplayValueFormatBar”. This toolbar is not displayed by default, so first display it following the explanation of Toolbar Display Switching.

The bar contains the following setting items from left to right.

Item

Contents

Length unit

Selects the unit of length values from “Meter”, “Millimeter”, and “Kilometer”.

Length precision

Sets the number of decimals of length values. The increment used when entering values also changes according to the number of decimals.

Angle unit

Selects the unit of angle values from “Degree” and “Radian”.

Angle precision

Sets the number of decimals of angle values. The increment used when entering values also changes according to the number of decimals.

Coordinate system

Selects the coordinate system used for displaying and entering values from “Right-handed” and “Left-handed”.

By default, the length unit is meter, the angle unit is degree, and the coordinate system is right-handed.

Where the Settings Are Applied

The settings on the DisplayValueFormatBar are applied to the various GUIs that display and enter position and angle values. For example, the following are affected.

  • The display and input of the positions and postures of links and objects on the Link Position view, the location view, and so on

  • The display and input of joint displacements on the joint displacement view and so on (the angle unit is applied to revolute joints, and the length unit to prismatic joints)

  • The display of measured values in the distance measurement functions

  • The values such as positions displayed on the scene view

About the Coordinate System Setting

When the coordinate system is set to “Left-handed”, position and posture values are displayed and entered as the values in the left-handed coordinate system with the Y axis inverted. This is convenient when exchanging position and posture values with other software that adopts a left-handed coordinate system, because you can use the values as they are.

Note that, as mentioned above, the internal coordinate system of Choreonoid is always right-handed, and this setting only switches the representation of the values on the GUI.

Saving the Settings

When you change the settings with the DisplayValueFormatBar, the settings are stored in the project and restored when the project is loaded.