get_intermediate_pose(posx1,posx2,alpha)
Features
This function returns posx located at alpha of the linear transition from posx1 to posx2. It returns posx1 if alpha is 0, the median value of two poses if alpha is 0.5, and posx2 if alpha is 1.
Parameters
Parameters 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] |
alpha | float | - | 0.0 ≤ alpha ≤ 1.0 |
Return
Value | Description |
|---|---|
posx | [mm, deg] |
Exception
Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
Example
PY
posx1 = [100, 20, 300, 90, 0, 180]
posx2 = [200, 50, 100, 90, 30, 150]
alpha = 0.5
posx = get_intermediate_pose(posx1,posx2,alpha)