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 |
int8 |
DR_COND_NONE |
MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_TOOL=1 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
Return
|
Return Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
conv_posx |
float64[6] |
- |
position list |
|
success |
bool |
- |
True or False |