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
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);