overwrite_user_cart_coord(id, pos, ref, apply_mod)
Features
This function changes the pose and reference coordinate system of the requested user coordinate system [id] with the [pos] and [ref], respectively.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
id | int | - | coordinate ID |
pos | posx list (float[6]) | - | posx or position list |
ref | int | DR_BASE | reference coordinate
|
| apply_mod | int | DR_TEMPORARY | DR_TEMPORARY(0) : Valid only during program execution DR_PERMANENT(1) : Valid even after program ends |
information
If apply_mod is 0, the user coordinate system is changed and maintained only when the program is executed, and if it is 1, the user coordinate system information stored in the host controller itself is changed.
Return
| Value | Description |
|---|---|
Positive integer | Successful coordinate setting |
-1 | Failed coordinate setting |
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 |
Exception
pose_user1 = posx(30, 40, 50, 0, 0, 0)
id_user = set_user_cart_coord(pose_user1, ref=DR_BASE)
pose_user2 = posx(100, 150, 200, 45, 180, 0)
overwrite_user_cart_coord(id_user, pose_user2, ref=DR_BASE)
pose_user3 = posx(100, 150, 200, 45, 180, 0)
overwrite_user_cart_coord(id_user, pose_user3, ref=DR_BASE, apply_mod=DR_PERMANENT)