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get_desired_posx()

Definition

get_desired_posx(ref, ori_type)

Features

This function returns the target pose of the current tool. 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

float[6]

Tool velocity

Exception

Exception

Description

DR_Error (DR_ERROR_RUNTIME)

C extension module error occurred

Example

Python
x1 = get_desired_posx() #x1 w.r.t. DR_BASE
x2 = posx(100, 0, 0, 0, 0, 0) 
x3 = posx(0, 0, 20, 20, 20, 20) 
pos = x3
DR_USR1=set_user_cart_coord(x1, x2, x3, pos)
set_ref_coord(DR_USR1)

xa = get_desired_posx(DR_USR1) #xa w.r.t. DR_USR1
xb = get_desired_posx(DR_WORLD, DR_ELR_ZYX) #xb w.r.t. DR_WORLD, orientation type: euler zyx