Definition
get_normal(x1, x2, x3)
Features
This function returns the normal vector of a surface consisting of three points (posx) in the task space. This direction is clockwise.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
x1 |
posx list (float[6]) |
- |
posx or position list |
|
x2 |
posx list (float[6]) |
- |
posx or position list |
|
x3 |
posx list (float[6]) |
- |
posx or position list |
Return
|
Value |
Description |
|---|---|
|
float[3] |
normal vector |
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
x1 = posx(0, 500, 700, 30, 0, 90)
x2 = posx(500, 0, 700, 0, 0, 45)
x3 = posx(300, 100, 500, 45, 0, 45)
vect = get_normal(x1, x2, x3)
Keyword
normal