Convert position types

Convert Rotation Vector to and from RPY

Overview
Try it with the Windows example

Overview

The class Pose contains the 6 coordinates of a cartesian position : 3 translations X, Y, Z in millimeters and 3 rotation RX, RY, RZ in radians. It also contains 3 rotations properties that exposes the 3 rotations in degrees, but it's not a storage, only a conversion of RX, RY and RZ.

The methods FromRotationVectorToRPY() and FromRPYToRotationVector() transform the position in a new position with same translations X, Y, Z but different rotations.

A Pose instance can be returned in a XML-RPC answer. It will be interpreted as a robot pose.

Members of Common.Pose :

public class Pose : CartesianCoordinates {
     public Pose()
     public Pose(double x, double y, double z)
     public Pose(double x, double y, double z, double rx, double ry, double rz)
     public Pose(Pose pose)
 
    // Convert a transformation 4x4 matrix to RPY pose
    public static Pose From4x4MatrixToRPY(double[,] matrixTransform)
 
    // Convert a transformation 4x4 matrix to rotation vector
    public static Pose From4x4MatrixToRotationVector(double[,] matrixTransform)
 
    // Converts a quaternion to UR rotation vector
    public static Pose FromQuaternionToRotationVector(double x, double y, double z, double w)
 
    // Consider this pose as a rotation vector and return a 4x4 transformation matrix
    public double[,] FromRPYTo4x4Matrix()
 
    // Consider this pose as RPY And convert it to a new Rotation Vector
    public Pose FromRPYToRotationVector()
 
    // Consider this pose as a RPY position and return a 4x4 transformation matrix
    public double[,] FromRotationVectorTo4x4Matrix()
 
    // Converts a rotation vector to quaternion
    public void FromRotationVectorToQuaternion(out double x, out double y, out double z, out double w)
 
    // Consider this pose as a Rotation Vector And convert it to a new RPY position
    public Pose FromRotationVectorToRPY()
 
    // RX rotation in degrees or °/s
    public double RxDegrees { get; set; }
 
    // RY rotation in degrees or °/s
    public double RyDegrees { get; set; }
 
    // RZ rotation in degrees or °/s
    public double RzDegrees { get; set; }
 
    // Returns 6 comma separated coordinated with G1 format
    public override string ToString()
 
    // Pase a pose from its string representation
    public static bool TryParse(string value, out Pose pose)
}

Try it with the Windows example

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Forward and Inverse Kinematics

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Universal Robots SDK documentation

Forward and Inverse Kinematics

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Convert position types

Convert Rotation Vector to and from RPY

Overview
Try it with the Windows example

Overview

The methods FromRotationVectorToRPY() and FromRPYToRotationVector() transform the position in a new position with same translations X, Y, Z but different rotations.

A Pose instance can be returned in a XML-RPC answer. It will be interpreted as a robot pose.

Members of Common.Pose :

public class Pose : CartesianCoordinates {
     public Pose()
     public Pose(double x, double y, double z)
     public Pose(double x, double y, double z, double rx, double ry, double rz)
     public Pose(Pose pose)
 
    // Convert a transformation 4x4 matrix to RPY pose
    public static Pose From4x4MatrixToRPY(double[,] matrixTransform)
 
    // Convert a transformation 4x4 matrix to rotation vector
    public static Pose From4x4MatrixToRotationVector(double[,] matrixTransform)
 
    // Converts a quaternion to UR rotation vector
    public static Pose FromQuaternionToRotationVector(double x, double y, double z, double w)
 
    // Consider this pose as a rotation vector and return a 4x4 transformation matrix
    public double[,] FromRPYTo4x4Matrix()
 
    // Consider this pose as RPY And convert it to a new Rotation Vector
    public Pose FromRPYToRotationVector()
 
    // Consider this pose as a RPY position and return a 4x4 transformation matrix
    public double[,] FromRotationVectorTo4x4Matrix()
 
    // Converts a rotation vector to quaternion
    public void FromRotationVectorToQuaternion(out double x, out double y, out double z, out double w)
 
    // Consider this pose as a Rotation Vector And convert it to a new RPY position
    public Pose FromRotationVectorToRPY()
 
    // RX rotation in degrees or °/s
    public double RxDegrees { get; set; }
 
    // RY rotation in degrees or °/s
    public double RyDegrees { get; set; }
 
    // RZ rotation in degrees or °/s
    public double RzDegrees { get; set; }
 
    // Returns 6 comma separated coordinated with G1 format
    public override string ToString()
 
    // Pase a pose from its string representation
    public static bool TryParse(string value, out Pose pose)
}

Try it with the Windows example

Tools

Forward and Inverse Kinematics

Documentation home

Open and edit program and installation files

Eine Frage?

Convert position types

Overview

Try it with the Windows example

Eine Frage?

Convert position types

Overview

Try it with the Windows example