get_current_posx(ref)
Features
Returns the pose and solution space of the current task coordinate. The pose is based on the ref coordinate.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
ref | Int | DR_BASE | reference coordinate
|
Note
- ref: DR_BASE (base coordinate)/user coordinate (globally declared user coordinate)
- DR_BASE is applied when ref is omitted.
Return
| Value | Description |
|---|---|
Posx | Task space point |
Int | Solution space (0 ~ 7) |
Robot configuration vs. solution space
Solution space | Binary | Shoulder | Elbow | Wrist |
|---|---|---|---|---|
0 | 000 | Lefty | Below | No Flip |
1 | 001 | Lefty | Below | Flip |
2 | 010 | Lefty | Above | No Flip |
3 | 011 | Lefty | Above | Flip |
4 | 100 | Righty | Below | No Flip |
5 | 101 | Righty | Below | Flip |
6 | 110 | Righty | Above | No Flip |
7 | 111 | Righty | Above | Flip |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_RUNTIME) | C extension module error occurred |
Example
PY
x1, sol = get_current_posx() #x1 w.r.t. DR_BASE
x1_wld, sol = get_current_posx(ref=DR_WORLD) #x1 w.r.t. DR_WORLD
DR_USR1=set_user_cart_coord(x1, x2, x3, pos)
set_ref_coord(DR_USR1)
x1, sol = get_current_posx(DR_USR1) #x1 w.r.t. DR_USR1