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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 a 4D matrix describing a Cartesian pose and a selected orientation convention, the function returns the roll, pitch and yaw angles, accordingly to the convention provided as input, describing the orientation part of the input matrix.
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Input |
Data type |
Description |
|---|---|---|
|
i_stPoseMatrix |
SE_MATH.ST_Matrix4D |
A 4D matrix describing a Cartesian pose |
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i_etOrientationConvention |
ET_OrientationConvention |
Convention used to calculate the rotation angles evaluated by the function. |
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Output |
Data type |
Description |
|---|---|---|
|
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. |
|
Data type |
Description |
|---|---|
|
SE_MATH.ST_Matrix4D |
The function returns the roll, pitch and yaw angles, accordingly to the convention provided as input, describing the orientation part of the input matrix. |
|
q_xError |
q_etResult |
Enumeration value |
Description |
|---|---|---|---|
|
FALSE |
Ok |
0 |
Success |
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FALSE |
SingularOrientation |
12 |
The provided orientation is singular. |
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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 |
|---|---|---|
|
Evaluation of the orientation was not successful. |
i_etOrientationConvention contains an invalid value. |
Provide one of the following values:
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