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)

Parameter Name

Data Type

Default Value

Description

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)

set_user_cart_coord()

Keyword

get / user / cart / coord / get_user / get_user_cart / user_cart_coord