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 - UnderAutomation Universal Robots .NET Communication SDK (Software Development Kit) offre la possibilité de créer des applications personnalisées .NET Core, .NET Framework et .NET Standard qui peuvent communiquer avec tous les robots UR. Des exemples prêts à l'emploi pour Windows, Mac OS et Linux, LabView, Node.js et Python sont fournis. Ce SDK utilise le serveur de Dashboard Server TCP/IP et XML-RPC pour contrôler le robot à distance et le protocole Client Interface pour recevoir et décoder le flux de données.