Joint positions to rotations?

If you mean by "rotation angle" is considering three pairs of joints You can get the relative rotation angles but the absolute angles as follows Say the joints are A,B and C.

If you mean by "rotation angle" is considering three pairs of joints , You can get the relative rotation angles but the absolute angles as follows. Say the joints are A,B and C You can define a triangle (traingle ABC ). Then you can assign any value (say R ) as one of the three angles (ex: angle ABC = R ).

Since you have the joint positions you can calculate the length of each 'edge' of the triangle using distance formula. Use Cosine(Cos) Rule to calculate the relative angles . (which will be for example BAC = 0.2R , CAB = 3R etc) As well as you can get the variation of a particular angle where distance between two joints are constant .( ex: consider Shoulder - Elbow and Elbow - Wrist ).

Initially angle ABC was R and Then 1.02R , Next 1.3R ..etc.

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