coord_transform(pose_in, ref_in, ref_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
|
ref_out | float | DR_COND_NONE | reference coordinate after transformation
|
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
PY
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