coord_transform() | V3-manual

Definition

coord_transform(pose_in, ref_in, ref_out, ori_type_out)

Features

This function transforms given task position expressed in reference coordinate, ‘ref_in’ to task position expressed in reference coordinate, ‘ref_out’. It returns transformed task position. It supports calculation of coordinate transformation for the following cases.

(ref_in) world reference coordinate → (ref_out) world reference coordinate
(ref_in) world reference coordinate → (ref_out) base reference coordinate
(ref_in) world reference coordinate → (ref_out) tool reference coordinate
(ref_in) world reference coordinate → (ref_out) user reference coordinate
(ref_in) base reference coordinate → (ref_out) base reference coordinate
(ref_in) base reference coordinate → (ref_out) tool reference coordinate
(ref_in) base reference coordinate → (ref_out) user reference coordinate
(ref_in) tool reference coordinate → (ref_out) world reference coordinate
(ref_in) tool reference coordinate → (ref_out) base reference coordinate
(ref_in) tool reference coordinate → (ref_out) tool reference coordinate
(ref_in) tool reference coordinate → (ref_out) user reference coordinate
(ref_in) user reference coordinate → (ref_out) world reference coordinate
(ref_in) user reference coordinate → (ref_out) base reference coordinate
(ref_in) user reference coordinate → (ref_out) tool reference coordinate
(ref_in) user reference coordinate → (ref_out) user reference coordinate

Parameters

Parameter Name	Data Type	Default Value	Description
pose_in	posx	-	posx
ref_in	float	DR_COND_NONE	reference coordinate before transformation DR_BASE : base coordinate DR_WORLD : world coordinate DR_TOOL : tool coordinate user coordinate: User defined
ref_out	float	DR_COND_NONE	reference coordinate after transformation DR_BASE : base coordinate DR_WORLD world coordinate DR_TOOL : tool coordinate user coordinate: User defined
ori_type_out	int	None	orientation type None: Follows the orientation type of pos_in 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
pos	posx

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

base_pos = posx(400,500,800,0,180,15)
# If task position based on base reference coordinate base_pos = posx(400,500,800,0,180,15)

tool_pos = coord_transform(base_pos, DR_BASE, DR_TOOL)
# Transform task position(base_pos) expressed in base reference coordinate to task position expressed in tool reference coordinate
# This command returns task position expressed in tool reference coordinate and the result value is stored in tool_pos

tool_pos_zyx = coord_transform(base_pos, DR_BASE, DR_TOOL, DR_ELR_ZYX)
# Orientation type of tool_pos_zyx: euler zyx

Keyword

coord / transform / coord_