Transform

Transformation between coordinate systems.

Member Variables

translation

std::array< float, 3 >, default: \{0.F, 0.F, 0.F\} [m] (x, y, z)

orientation

std::array< float, 3 >, default: \{0.F, 0.F, 0.F\} [degrees] ExtrinsicXYZ (Rx, Ry, Rz)

baseFrame

BaseFrame, default: \{ FrameType[CAMERA|ROBOT|OBJECT]: Transform into specified base frame(coordinate system). Currently only CAMERA supported.

objectId

std::optional< std::string >, default: \{std::nullopt\}

Enumerations

Table 1. BaseFrame
Value Description

ROBOT

select robot base coordinate system

CAMERA

select camera coordinate system

OBJECT

select object coordinate system

GRIP

select TCP @ grip position
Table 2. AxisSelection
Value Description

X

select x axis of coordinate system

Y

select y axis of coordinate system

Z

select z axis of coordinate system