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get_user_cart_coord()

Definition

get_user_cart_coord(id, ori_type)

Features

This function returns the pose and reference coordinate system of the requested user coordinate system [id].

Parameters

Parameter Name

Data Type

Default Value

Description

id

int

-

coordinate ID

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)

Return

Value

Description

posx

Position and orientation information of the coordinate to get

ref

Reference coordinate of the coordinate to get

Exception

Exception

Description

DR_Error (DR_ERROR_TYPE)

Parameter data type error occurred

DR_Error (DR_ERROR_VALUE)

Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME)

C extension module error occurred

DR_Error (DR_ERROR_STOP)

Program terminated forcefully

Example

Python
pose_user1 = posx(10, 20, 30, 0, 0, 0)
id_user = set_user_cart_coord(pose_user1, ref=DR_BASE)
pose, ref = get_user_cart_coord(id_user)
pose_quat, ref = get_user_cart_coord(id_user, DR_QUAT)