add_pose(posx1,posx2,ori_type_out)

Features

This function obtains the sum of two poses.

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]

ori_type_out

int

None

output orientation type

None: Follows the orientation type of posx1 input parameter
DR_ELR_ZYZ: Euler Angles(z-y'-z'', in degrees)
DR_ELR_ZYX: Euler Angles(z-y'-x'', in degrees)
DR_ELR_XYZ: Euler Angles(x-y'-z'', in degrees)
DR_FIX_XYZ: Fixed Angles(x-y-z, in degrees)
DR_ROTVEC: 3D rotation vector (angle/axis representation)
DR_QUAT: unit quaternion(x, y, z, w)

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]
add_posx = add_pose(posx1, posx2)
add_posx_zyx = add_pose(posx1, posx2, DR_ELR_ZYX)