get_user_cart_coord(id, ori_type)
Features
This function returns the pose and reference coordinate system of the requested user coordinate system [id].
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
id | int | - | coordinate ID |
| ori_type | int | DR_ELR_ZYZ | orientation type
|
Return
| Value | Description |
|---|---|
posx | Position and orientation information of the coordinate to get |
ref | Reference coordinate of the coordinate to get |
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
pose_user1 = posx(10, 20, 30, 0, 0, 0)
id_user = set_user_cart_coord(pose_user1, ref=DR_BASE)
pose, ref = get_user_cart_coord(id_user)
pose_quat, ref = get_user_cart_coord(id_user, DR_QUAT)