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
C++
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;
}