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subtract_pose()

Definition

subtract_pose(posx1,posx2,ori_type_out)

Features

This function obtains the difference between two poses.

image2021-11-4_10-30-28.png

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]

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]
subtract_posx = subtract_pose(posx1, posx2)
subtract_posx_zyx = subtract_pose(posx1, posx2, DR_ELR_ZYX)