IF_TeachingCartesianPose - EstimateCartesianPose (Method)

Overview

Type:	Method
Available as of:	V1.8.0.0

This chapter provides information on:

Task
Description
Interface
Return Value

Task

Estimates a cartesian pose based on sampled data.

Description

With the method EstimateCartesianPose(...), a cartesian pose from a source to a target coordinate system is estimated.

Example:

Access: PUBLIC

Interface

Input	Data type	Description
i_etOrientationConvention	GEM.ET_OrientationConvention	Orientation convention that must be used for the estimated cartesian pose. Default value: GEM.ET_OrientationConvention.ZYX
i_lrQualityTolerance	LREAL	Value used to make a comparison between the provided samples and the estimated pose. Refer to the outputs q_lrSamplesDirectionQuality and q_lrSamplesPlaneQuality for more information. Default value: 1.0 mm

Input

Data type

Description

i_etOrientationConvention

GEM.ET_OrientationConvention

Orientation convention that must be used for the estimated cartesian pose.

Default value: GEM.ET_OrientationConvention.ZYX

i_lrQualityTolerance

LREAL

Value used to make a comparison between the provided samples and the estimated pose. Refer to the outputs q_lrSamplesDirectionQuality and q_lrSamplesPlaneQuality for more information.

Default value: 1.0 mm

Output	Data type	Description
q_xError	BOOL	TRUE: An error occurred during last command. For more information refer also to q_etResult and q_sResultMsg.
q_etResult	ET_Result	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.
q_sResultMsg	STRING[80]	Event-triggered message that gives more detailed information on the diagnostic state.
q_stPoseMatrix	SE_MATH.ST_Matrix3D	Estimated cartesian pose described as a 4D homogeneous transformation matrix.
q_lrSamplesDirectionQuality	LREAL	Percentage value providing an indication of the quality of the estimated X direction. It depends on the number of samples that are more distant from the estimated X direction than i_lrQualityTolerance. Range: [0, 100]
q_lrSamplesPlaneQuality	LREAL	Percentage value providing an indication of the quality of the estimated XY plane. It depends on the number of samples that are more distant from the estimated XY plane than i_lrQualityTolerance. Range: [0, 100]
q_lrMaxErrorOnSamples	LREAL	Each provided sample is verified based on the estimated pose to verify that the estimation allows a correct reconstruction of the sample. This value represents the maximum measurement error found for the provided samples and their equivalent values calculated using the estimated pose.

Return Value

Data type	Description
GEM.ST_CartesianPose	Estimated cartesian pose with the position defined as a 3D vector and the orientation described as roll, pitch and yaw angles. The applied orientation convention is the same provided as input.