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Type: |
Function |
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Available as of: |
V1.0.0.0 |
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Versions: |
Current version |
This chapter provides information on:
Given an input pose matrix and an orientation convention, the function evaluates the representation of such pose as position and roll, pitch and yaw angles. The orientation of the resulting pose is described accordingly to i_etOrientationConvention.
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Input |
Data type |
Description |
|---|---|---|
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i_stPoseMatrix |
SE_MATH.ST_Matrix4D |
A 4D matrix describing a Cartesian pose. |
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i_etOrientationConvention |
ET_OrientationConvention |
Orientation convention used to evaluate the resulting Cartesian pose. |
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Output |
Data type |
Description |
|---|---|---|
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q_xError |
BOOL |
If this output is set to TRUE, an error has been detected. For details, refer to q_etResult and q_etResultMsg. |
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q_etResult |
Provides diagnostic and status information. If q_xError = FALSE, then q_etResult provides status information. If q_xError = TRUE, then q_etResult provides diagnostic/error information. The enumeration ET_Result contains the possible values of the POU operation results. |
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q_sResultMsg |
STRING[80] |
Provides additional information about the current status of the POU. |
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Data type |
Description |
|---|---|
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ST_CartesianPose |
The function returns a position and roll, pitch and yaw representation of the orientation starting from a 4D matrix pose. |
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q_xError |
q_etResult |
Enumeration value |
Description |
|---|---|---|---|
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FALSE |
Ok |
0 |
Success |
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TRUE |
OrientationConventionInvalid |
11 |
The selected orientation convention is invalid. |
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Enumeration name: |
OrientationConventionInvalid |
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Enumeration value: |
11 |
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Description: |
The selected orientation convention is invalid. |
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Issue |
Cause |
Solution |
|---|---|---|
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Evaluation of the orientation was not successful. |
i_etOrientationConvention contains an invalid value. |
Provide one of the following values:
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