SetUserCartCoord3.srv
Features
The user can set the new rectangular coordinate system using u1 and v1 based on the ref coordinate. The origin point of the rectangular coordinate system is pos based on the ref coordinate while the x-axis and y-axis bases are given in the vectors u1 and v1, respectively. Other directions are determined by u1 x v1. If u1 and v1 are not orthogonal, v1’, that is perpendicular to u1 on the surface spanned by u1 and v1, is set as the vector in the y-axis direction.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
u1 | float64[3] | - | X-axis unit vector |
v1 | float64[3] | - | Y-axis unit vector |
pos | float64[6] | - | target task location for six axes (Tx, Ty, Tz, Rz, Ry, Rz (eul zyz)) |
ref | int8 | 0 | MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_WORLD=2 |
Note
The ref argument is only available in M2.40 or later versions.
Return
Return Name | Data Type | Default Value | Description |
|---|---|---|---|
id | int8 | - | user coordinate ID(101~120) or fail(-1) |
success | bool | - | True or False |