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trans()

Definition

trans(pos, delta, ref, ref_out, ori_type_out)

Features

pos (pose) defined based on the ref coordinate is moved/rotated by the amount equal to delta, and then a value converted based on the ref_out coordinate is returned.
In case that the ref coordinate is the tool coordinate, this function retuns the value based on input parameter(pos)’s coordinate without ref_out coordinate.

Parameters

Parameter Name	Data Type	Default Value	Description
pos	posx	-	posx or position list
pos	list (float[6])	-	posx or position list
delta	posx	-	posx or position list
delta	list (float[6])	-	posx or position list
ref	int	None	reference coordinate DR_BASE : base coordinate DR_WORLD : world coordinate DR_TOOL : tool coordinate user coordinate: user defined
ref_out	int	DR_BASE	reference coordinate DR_BASE : base coordinate DR_WORLD : world coordinate user coordinate: user defined
ori_type_out	int	None	output orientation type None: Follows the orientation type of input parameter(pos). 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 list (float[6])	task space point

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

p0 = posj(0,0,90,0,90,0)

movej(p0, v=30, a=30)

 

x1 = posx(200, 200, 200, 0, 180, 0)

delta = [100, 100, 100, 0, 0, 0]

x2 = trans(x1, delta, DR_BASE, DR_BASE)        # translation of x1 with delta in base coordinates

x3 = trans(x1, delta, ori_type_out=DR_ELR_ZYX) # transform to euler zyx 

x1_base = posx(500, 45, 700, 0, 180, 0)

x4 = trans(x1_base, [10, 0, 0, 0, 0, 0], DR_TOOL)

movel(x4, v=100, a=100, ref=DR_BASE)

 

uu1 = [1, 1, 0]

vv1 = [-1, 1, 0]

pos = posx(559, 34.5, 651.5, 0, 180.0, 0)

DR_userTC1 = set_user_cart_coord(uu1, vv1, pos)  #user defined coordinate system

x1_userTC1 = posx(30, 20, 100, 0, 180, 0)        #posx on user coordinate system

x9 = trans(x1_userTC1, [0, 0, 50, 0, 0, 0], DR_userTC1, DR_BASE) 

movel(x9, v=100, a=100, ref=DR_BASE)