CoordTransform.srv

Features

This service transforms given task position expressed in reference coordinate, ‘ref_in’ to task position expressed in reference coordinate, ‘ref_out’. It returns transformed task position. It supports calculation of coordinate transformation for the following cases.

(ref_in) world reference coordinate → (ref_out) world reference coordinate
(ref_in) world reference coordinate → (ref_out) base reference coordinate
(ref_in) world reference coordinate → (ref_out) tool reference coordinate
(ref_in) world reference coordinate → (ref_out) user reference coordinate
(ref_in) base reference coordinate → (ref_out) base reference coordinate
(ref_in) base reference coordinate → (ref_out) tool reference coordinate
(ref_in) base reference coordinate → (ref_out) user reference coordinate
(ref_in) tool reference coordinate → (ref_out) world reference coordinate
(ref_in) tool reference coordinate → (ref_out) base reference coordinate
(ref_in) tool reference coordinate → (ref_out) tool reference coordinate
(ref_in) tool reference coordinate → (ref_out) user reference coordinate
(ref_in) user reference coordinate → (ref_out) world reference coordinate
(ref_in) user reference coordinate → (ref_out) base reference coordinate
(ref_in) user reference coordinate → (ref_out) tool reference coordinate
(ref_in) user reference coordinate → (ref_out) user reference coordinate

Parameters

Parameter Name

Data Type

Default Value

Description

pose_in

float64[6]

-

position list

ref_in

int8

DR_COND_NONE

MOVE_REFERENCE_BASE =0

MOVE_REFERENCE_TOOL=1

MOVE_REFERENCE_WORLD=2

MOVE_REFERENCE_USER=101~120

ref_out