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) provides the ability to create customized .NET Core, .NET Framework and .NET Standard applications that can communicate with every UR robots. Ready to use examples for Windows, Mac OS and Linux, LabView, Node.js and Python are provided. It uses TCP/IP Dashboard Server and XML-RPC to remote control the robot and the Client Interface to receive and decode data stream.