From 87e9efe74eaa5759fedc0f1e152fd66f442125c7 Mon Sep 17 00:00:00 2001
From: Olivier R-D <olivier@dummy.com>
Date: Fri, 7 Jun 2013 21:52:10 +0200
Subject: [PATCH] add tanslate_tool, some cleanup
---
urx/urx.py | 33 ++++++++++++++++++++++++++++-----
1 file changed, 28 insertions(+), 5 deletions(-)
diff --git a/urx/urx.py b/urx/urx.py
index bf4d53f..d414765 100644
--- a/urx/urx.py
+++ b/urx/urx.py
@@ -432,15 +432,32 @@ class Robot(URRobot):
self.orient(orient, acc, vel, wait)
def translate(self, vect, acc=None, vel=None, wait=True):
- trans = self.get_transform()
- trans.pos += m3d.Vector(vect)
- return self.apply_transform(trans, acc, vel, wait)
+ """
+ move tool in base coordinate, keeping orientation
+ """
+ t = m3d.Transform()
+ t.pos += vect
+ return self.add_transform_base(t, acc, vel, wait)
+
+ def translate_tool(self, vect, acc=None, vel=None, wait=True):
+ """
+ move tool in tool coordinate, keeping orientation
+ """
+ t = m3d.Transform()
+ t.pos += vect
+ return self.add_transform_tool(t, acc, vel, wait)
def set_pos(self, vect, acc=None, vel=None, wait=True):
+ """
+ set tool to given pos, keeping constant orientation
+ """
trans = m3d.Transform(self.get_orientation(), m3d.Vector(vect))
return self.apply_transform(trans, acc, vel, wait)
def apply_transform(self, trans, acc=None, vel=None, wait=True):
+ """
+ move tcp to point and orientation defined by a transformation
+ """
if not acc:
acc = self.default_linear_acceleration
if not vel:
@@ -450,7 +467,7 @@ class Robot(URRobot):
if pose != None : #movel does not return anything when wait is False
return self.csys_inv * m3d.Transform(pose)
- def add_transform_b(self, trans, acc=None, vel=None, wait=True):
+ def add_transform_base(self, trans, acc=None, vel=None, wait=True):
"""
Add transform expressed in base coordinate
"""
@@ -465,11 +482,17 @@ class Robot(URRobot):
return self.apply_transform(pose * trans, acc, vel, wait)
def get_transform(self, wait=False):
+ """
+ get current transform from base to to tcp
+ """
pose = URRobot.getl(self, wait)
trans = self.csys_inv * m3d.Transform(pose)
return trans
def get_pose(self, wait=False):
+ """
+ get current transform from base to to tcp
+ """
return self.get_transform(wait)
def get_orientation(self, wait=False):
@@ -507,7 +530,7 @@ class Robot(URRobot):
return self.movels(pose, acc, vel, radius, wait)
t = m3d.Transform(pose)
if relative:
- return self.add_transform_b(t, acc, vel, wait)
+ return self.add_transform_base(t, acc, vel, wait)
else:
return self.apply_transform(t, acc, vel, wait)