Convert position types

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 Pose :
public class Pose {
// Create a new pose with null coordinates
public Pose(),
// Creates a new pose with translation informations and null rotations
public Pose(double x, double y, double z),
// Creates a new pose with translations and rotations information
public Pose(double x, double y, double z, double rx, double ry, double rz),
// Consider this pose as a Rotation Vector And convert it to a new RPY position
public Pose FromRotationVectorToRPY(),
// Consider this pose as RPY And convert it to a new Rotation Vector
public Pose FromRPYToRotationVector(),
// RX rotation in radians
public double Rx,
// RX rotation in degrees
public double RxDegrees { get; set; },
// RY rotation in radians
public double Ry,
// RY rotation in degrees
public double RyDegrees { get; set; },
// RZ rotation in radians
public double Rz,
// RZ rotation in degrees
public double RzDegrees { get; set; },
public override string ToString(),
// X coordinate in mm
public double X,
// X coordinate in mm
public double Y,
// X coordinate in mm
public double Z
}
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© 2021 UnderAutomation - El SDK (kit de desarrollo de software) de comunicación de UnderAutomation Universal Robots .NET ofrece la posibilidad de crear aplicaciones personalizadas de .NET Core, .NET Framework y .NET Standard que pueden comunicarse con todos los robots UR. Se proporcionan ejemplos listos para usar para Windows, Mac OS y Linux, LabView, Node.js y Python. Utiliza TCP/IP Dashboard Server y XML-RPC para controlar a distancia el robot y la interfaz de cliente para recibir y decodificar el flujo de datos.