|
Type: |
Function |
|
Available as of: |
V1.0.0.0 |
|
Versions: |
Current version |
This chapter provides information on:
The function converts from a Cartesian pose represented as (X, Y, Z) and (roll, pitch, yaw) to the same Cartesian pose represented as a homogeneous transformation matrix.
|
Input |
Data type |
Description |
|---|---|---|
|
i_stPose |
ST_CartesianPose |
A Cartesian pose. |
|
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. |
|
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. |
|
|
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 conversion from a Cartesian pose represented as (X, Y, Z) and (roll, pitch, yaw) to the same Cartesian pose represented as a homogeneous transformation matrix. |
|
q_xError |
q_etResult |
Enumeration value |
Description |
|---|---|---|---|
|
FALSE |
Ok |
0 |
Success |
|
TRUE |
OrientationConventionInvalid |
11 |
The selected orientation convention is invalid. |
|
Enumeration name: |
OrientationConventionInvalid |
|
Enumeration value: |
11 |
|
Description: |
The selected orientation convention is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Evaluation of the orientation was not successful. |
i_etOrientationConvention contains an invalid value. |
Provide one of the following values:
|