CDRFLEx.trans
Features
Input parameter(fSourcePos) based on the ref coordinate is translated/rotated as fOffset based on the same coordinate and this function returns the result that is converted to the value based on the eTargetRef.
Parameter
Parameter Name | Data Type | Default Value | Description |
fSourcePos | float[6] | - | Target joint location for six axes |
fOffset | float[6] | - | Offset information for six axes |
eSourceRef | enum.COORDINATE_SYSTEM | COORDINATE_SYSTEM_BASE | Refer to the Definition of Constant and Enumeration Type |
eTargetRef | enum.COORDINATE_SYSTEM | COORDINATE_SYSTEM_BASE | Refer to the Definition of Constant and Enumeration Type |
Return
Value | Description |
ROBOT_POSE | Refer to the Definition of Constant and Enumeration Type |
Example
CPP
float point[6] = { 30, 30, 30, 30, 30, 30 };
float offset[6] = { 100, 100, 100, 100, 100, 100};
LPROBOT_POSE res = Drfl.trans(point, offset);
for(int i=0; i<6; i++){
cout << res->_fPosition[i] << endl;
}