CDRFLEx.coord_transform

Features

This function transforms given task position expressed in reference coordinate, ‘eInCoordSystem’ to task position expressed in reference coordinate, ‘eOutCoordSystem’. It returns transformed task position. It supports calculation of coordinate transformation for the following cases.

(eInCoordSystem) world reference coordinate → (eOutCoordSystem) world reference coordinate
(eInCoordSystem) world reference coordinate → (eOutCoordSystem) base reference coordinate
(eInCoordSystem) world reference coordinate → (eOutCoordSystem) tool reference coordinate
(eInCoordSystem) world reference coordinate → (eOutCoordSystem) user reference coordinate
(eInCoordSystem) base reference coordinate → (eOutCoordSystem) world reference coordinate
(eInCoordSystem) base reference coordinate → (eOutCoordSystem) base reference coordinate
(eInCoordSystem) base reference coordinate → (eOutCoordSystem) tool reference coordinate
(eInCoordSystem) base reference coordinate → (eOutCoordSystem) user reference coordinate
(eInCoordSystem) tool reference coordinate → (eOutCoordSystem) world reference coordinate
(eInCoordSystem) tool reference coordinate → (eOutCoordSystem) base reference coordinate
(eInCoordSystem) tool reference coordinate → (eOutCoordSystem) tool reference coordinate
(eInCoordSystem) tool reference coordinate → (eOutCoordSystem) user reference coordinate
(eInCoordSystem) user reference coordinate → (eOutCoordSystem) world reference coordinate
(eInCoordSystem) user reference coordinate → (eOutCoordSystem) base reference coordinate
(eInCoordSystem) user reference coordinate → (eOutCoordSystem) tool reference coordinate
(eInCoordSystem) user reference coordinate → (eOutCoordSystem) user reference coordinate

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetpos	float[6]	-	Target task location for six axes
eInCoordSystem	float	-	Minimum value
eOutCoordSystem	float	-	Maximum value

Return

Value	Description
float[6]	Target task location for six axes

Example

PY

float base_pos[6] = {400, 500, 800, 0, 180, 15};
ROBOT_POSE* tool_pos;
tool_pos = Drfl.coord_transform(base_pos, COORDINATE_SYSTEM_BASE, COORDINATE_SYSTEM_TOOL);