get_intermediate_pose()

Definition

get_intermediate_pose(posx1,posx2,alpha,ori_type_out)

Features

This function returns posx located at alpha of the linear transition from posx1 to posx2. It returns posx1 if alpha is 0, the median value of two poses if alpha is 0.5, and posx2 if alpha is 1.

Parameters

Parameter Name	Data Type	Default Value	Description
posx1	posx list (float[6])	-	posx or position list [mm, deg]
posx2	posx list (float[6])	-	posx or position list [mm, deg]
alpha	float	-	0.0 ≤ alpha ≤ 1.0
ori_type_out	int	None	output orientation type None: Follows the orientation type of posx1 input parameter 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)

Return

Value	Description
posx	[mm, deg]

Exception

Exception	Description
DR_Error (DR_ERROR_TYPE)	Parameter data type error occurred

Example

Python

posx1 = [100, 20, 300, 90, 0, 180]
posx2 = [200, 50, 100, 90, 30, 150]
alpha = 0.5
posx = get_intermediate_pose(posx1,posx2,alpha)