Convert position types

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)
// 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 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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