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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Convert position types

Overview

Try it with the Windows example