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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);

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