public interface PoseFactory
This interface provides methods for creating poses in Cartesian space (relative to a reference coordinate system).
A pose can, e.g. describe the position of the robot tool (e.g. w.r.t. to robot base) or the TCP offset (relative to the center of the tool output flange).
Modifier and Type | Method and Description |
---|---|
Pose |
createPose(double x,
double y,
double z,
double rx,
double ry,
double rz,
Length.Unit lengthUnit,
Angle.Unit angleUnit)
Creates a
Pose object with the specified Cartesian position and orientation (rotation) |
Pose createPose(double x, double y, double z, double rx, double ry, double rz, Length.Unit lengthUnit, Angle.Unit angleUnit)
Pose
object with the specified Cartesian position and orientation (rotation)x
- X coordinate of the positiony
- Y coordinate of the positionz
- Z coordinate of the positionrx
- Rx parameter of the rotation vector specifying the orientationry
- Ry parameter of the rotation vector specifying the orientationrz
- Rz parameter of the rotation vector specifying the orientationlengthUnit
- type of unit for the positionangleUnit
- type of unit for the rotationCopyright © 2019. All rights reserved.