htrans() | V3-manual

Definition

htrans(posx1,posx2,ori_type_out)

Features

This function returns the pose corresponding to T1*T2 assuming that the homogeneous transformation matrices obtained from posx1 and posx2 are T1 and T2, respectively.

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)

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]
posx = htrans(posx1,posx2)
posx_quat = htrans(posx1, posx2, DR_QUAT)