get_current_tool_flange_posx(ref, ori_type)

Features

Returns the current tool flange pose based on the reference coordinate (ref). The tool flange will return to tcp=(0,0,0,0,0,0).

Parameters

Parameter Name

Data Type

Default Value

Description

ref

int

DR_BASE

reference coordinate

DR_BASE : base coordinate
DR_WORLD : world coordinate

ori_type

int

DR_ELR_ZYZ

orientation type

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	Pose of tool flange

Exception

Exception	Description
DR_Error (DR_ERROR_RUNTIME)	C extension module error occurred

Example

PY

x1 = get_current_tool_flange_posx()  					#x1 : Flange pose base on the base coordinate(default value)
x2 = get_current_tool_flange_posx(DR_BASE)  			#x2 : Flange pose based on the base coordinate
x3 = get_current_tool_flange_posx(DR_WORLD) 			#x3 : Flange pose based on the world coordinate
x4 = get_current_tool_flange_posx(ori_type=DR_FIX_XYZ) 	#x4 : Flange pose base on the base coordinate(default value), orientation type: fixed xyz