CDRFLEx.align_axis(eTargetVec, eSourceVec, eTaskAxis, eTargetRef)
Features
This function matches the given vect direction(eTargetVec) based on the ref coordinate(eTargetRef) and the designated axis of the tool frame. The robot TCP moves to the pos position.
Parameter
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
eTargetVec | float[3] | - | vector |
eSourceVec | float[3] | vector | |
eTaskAxis | enum.TASK_AXIS | - | Refer to the Definition of Constant and Enumeration Type |
eTargetRef | enum.COORDINATE_SYSTEM | - | Refer to the Definition of Constant and Enumeration Type |
Return
Value | Description |
|---|---|
0 | Failed |
1 | Success |
Example
CPP
float v1[3] = {400, 400, 500};
float v2[3] = {350, 37, 430};
Drfl.align_axis(v1, v2, TASK_AXIS_X, COORDINATE_SYSTEM_BASE);