Trans.srv
Features
- Input parameter(pos) based on the ref coordinate is translated/rotated as delta based on the same coordinate and this function returns the result that is converted to the value based on the ref_out coordinate.
- In case that the ref coordinate is the tool coordinate, this function retuns the value based on input parameter(pos)’s coordinate without ref_out coordinate.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
pos | float64[6] | - | position list |
delta | float64[6] | - | position list |
ref | int8 | 0 | MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_TOOL=1 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
ref_out | int8 | 0 | MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
Note
- The ref argument DR_WORLD is only available in M2.40 or later versions.
- The ref_out argument is only available in M2.40 or later versions.
Return
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
trans_pos | float64[6] | - | Task space point |
success | bool | - | True or False |