get_normal(x1, x2, x3)
Features
This function returns the normal vector of a surface consisting of three points (posx) in the task space. This direction is clockwise.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
x1 | posx list (float[6]) | - | posx or position list |
x2 | posx list (float[6]) | - | posx or position list |
x3 | posx list (float[6]) | - | posx or position list |
Return
| Value | Description |
|---|---|
float[3] | normal vector |
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
x1 = posx(0, 500, 700, 30, 0, 90)
x2 = posx(500, 0, 700, 0, 0, 45)
x3 = posx(300, 100, 500, 45, 0, 45)
vect = get_normal(x1, x2, x3)