htrans(posx1,posx2)
Features
This function returns the pose corresponding to T1*T2 assuming that the homogeneous transformation matrices obtained from posx1 and posx2 are T1 and T2, respectively.
Parameters
Parameter 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] |
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]
posx = htrans(posx1,posx2)