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new_csys_from_xpy: reset csys, changed notation, print collected points

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Alvaro Capellan 2016-05-25 12:44:03 +02:00
parent 67cb0def09
commit 41e494758e
1 changed files with 12 additions and 6 deletions
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18
urx/robot.py
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@ -214,20 +214,26 @@ class Robot(URRobot):
Return new coordinate system from three points: X, Origin, Y Return new coordinate system from three points: X, Origin, Y
based on math3d: Transform.new_from_xyp based on math3d: Transform.new_from_xyp
""" """
# Set coord. sys. to 0
self.csys = m3d.Transform()
print("A new coordinate system will be defined from the next three points") print("A new coordinate system will be defined from the next three points")
print("Firs point is X, second Origin, third Y") print("Firs point is X, second Origin, third Y")
print("Set it as a new reference by calling myrobot.set_csys(new_csys)") print("Set it as a new reference by calling myrobot.set_csys(new_csys)")
input("Move to first point and click Enter") input("Move to first point and click Enter")
# we do not use get_pose so we avoid rounding values # we do not use get_pose so we avoid rounding values
pose = URRobot.getl(self) pose = URRobot.getl(self)
print("Introduced point defining X: {}".format(pose[:3]))
px = m3d.Vector(pose[:3])
input("Move to second point and click Enter")
pose = URRobot.getl(self)
print("Introduced point defining Origo: {}".format(pose[:3]))
p0 = m3d.Vector(pose[:3]) p0 = m3d.Vector(pose[:3])
input("Move to second point and click Enter") input("Move to third point and click Enter")
pose = URRobot.getl(self) pose = URRobot.getl(self)
p1 = m3d.Vector(pose[:3]) print("Introduced point defining Y: {}".format(pose[:3]))
input("Move to second point and click Enter") py = m3d.Vector(pose[:3])
pose = URRobot.getl(self) return m3d.Transform.new_from_xyp(px - p0, py - p0, p0)
p2 = m3d.Vector(pose[:3])
return m3d.Transform.new_from_xyp(p0 - p1, p2 - p1, p1)
@property @property
def x(self): def x(self):