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new_csys_from_xpy: Restore coord. system inside method

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This commit is contained in:
Alvaro Capellan 2016-07-05 16:47:32 +02:00
parent 70e13773df
commit 58be13fdd3
1 changed files with 7 additions and 2 deletions
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9
urx/robot.py
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@ -217,7 +217,8 @@ class Robot(URRobot):
def new_csys_from_xpy(self): def new_csys_from_xpy(self):
""" """
Return new coordinate system from three points: X, Origin, Y Restores and returns new coordinate system calculated 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 # Set coord. sys. to 0
@ -239,7 +240,11 @@ class Robot(URRobot):
pose = URRobot.getl(self) pose = URRobot.getl(self)
print("Introduced point defining Y: {}".format(pose[:3])) print("Introduced point defining Y: {}".format(pose[:3]))
py = m3d.Vector(pose[:3]) py = m3d.Vector(pose[:3])
return m3d.Transform.new_from_xyp(px - p0, py - p0, p0)
new_csys = m3d.Transform.new_from_xyp(px - p0, py - p0, p0)
self.set_csys(new_csys)
return new_csys
@property @property
def x(self): def x(self):