updated pose howtos

etc/doxygen/pages/3.HowTos.dox

@@ -7,18 +7,33 @@
 \page RobotAPI-HowTos-Eigen-From-Pose How to convert a Variant pose into an Eigen Matrix
 \ingroup RobotAPI-HowTos
 
+If you have a armarx::Pose or armarx::FramedPose or armarx::LinkedPose:
 \code
-#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
-#include <VirtualRobot/LinkedCoordinate.h>
-#include <Eigen/Core>
+#include <RobotAPI/libraries/core/LinkedPose.h>
 
 std::string refFrame = "Base";
-FramedPositionPtr position = getInput<FramedPosition>("position");
-FramedOrientationPtr orientation = getInput<FramedOrientation>("orientation");
+FramedPosePtr pose = getInput<FramedPose>("pose"); // if you are in a statechart
+Eigen::Matrix4f matrix = pose->toEigen();
 
-VirtualRobot::LinkedCoordinate pose = ArmarPose::createLinkedCoordinate(context->remoteRobot, position, orientation);
+\endcode
+
+If you only have a armarx::FramedPosition and armarx::FramedOrientation:
+\code
+#include <RobotAPI/libraries/core/LinkedPose.h>
+
+std::string refFrame = "Base";
+FramedPositionPtr position = getInput<FramedPosition>("position"); // if you are in a statechart
+FramedOrientationPtr orientation = getInput<FramedOrientation>("orientation"); // if you are in a statechart
 
-Eigen::Matrix4f matrix = pose.getInFrame(refFrame);
+PosePtr pose = new Pose(position, orientation);
 
+Eigen::Matrix4f matrix = pose->toEigen();
 \endcode
+
+For more information refer to \ref RobotAPI-FramedPose.
+
+
+\page RobotAPI-HowTos-Change-Pose-Frame How to change a frame of a coordinate/pose
+\ingroup RobotAPI-HowTos
+Refer to \ref RobotAPI-FramedPose.
 */