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get_current_posx()

Definition

get_current_posx(ref, ori_type)

Features

Returns the pose and solution space of the current task coordinate. The pose is based on the ref coordinate.

Parameters

Parameter Name

Data Type

Default Value

Description

ref

Int

DR_BASE

reference coordinate

  • DR_BASE : base coordinate

  • DR_WORLD : world coordinate

  • user coordinate: User defined

ori_type

int

DR_ELR_ZYZ

orientation type

  • DR_ELR_ZYZ: Euler Angles(z-y'-z'', in degrees)

  • DR_ELR_ZYX: Euler Angles(z-y'-x'', in degrees)

  • DR_ELR_XYZ: Euler Angles(x-y'-z'', in degrees)

  • DR_FIX_XYZ: Fixed Angles(x-y-z, in degrees)

  • DR_ROTVEC: 3D rotation vector (angle/axis representation, in degrees)

  • DR_QUAT: unit quaternion(x, y, z, w)

Note

  • ref: DR_BASE (base coordinate)/user coordinate (globally declared user coordinate)

  • DR_BASE is applied when ref is omitted.

Return

Value

Description

Posx

Task space point

Int

Solution space (0 ~ 7)

Solution Space w.r.t. Robot Configuration

Solution space

Binary

Shoulder

Elbow

Wrist

0

000

Lefty

Below

No Flip

1

001

Lefty

Below

Flip

2

010

Lefty

Above

No Flip

3

011

Lefty

Above

Flip

4

100

Righty

Below

No Flip

5

101

Righty

Below

Flip

6

110

Righty

Above

No Flip

7

111

Righty

Above

Flip

Exception

Exception

Description

DR_Error (DR_ERROR_RUNTIME)

C extension module error occurred

Example

Python
x1, sol = get_current_posx() #x1 w.r.t. DR_BASE

x1_wld, sol = get_current_posx(ref=DR_WORLD) #x1 w.r.t. DR_WORLD

DR_USR1=set_user_cart_coord(x1, x2, x3, pos)
set_ref_coord(DR_USR1)

x1, sol = get_current_posx(DR_USR1) #x1 w.r.t. DR_USR1

x2, sol = get_current_posx(DR_USR1, DR_FIX_XYZ) #x2 w.r.t. DR_USR1 (orientation type: fixed xyz)