4.11 Coordinate System Class
4.11.1 Getting Information of a Specified Coordinate System
| Method Name | CoordinateSystem.Get(CoordinateType type , int index ) |
|---|---|
| Description | Gets the corresponding coordinate system information based on the specified coordinate system type and index. |
| Request Parameters | type : CoordinateType Coordinate system type index : int Coordinate system index |
| Return Value | Coordinate: Coordinate system information data StatusCode: Get operation execution result |
| Compatible robot software version | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
4.11.2 Updating Coordinate System Information
| Method Name | CoordinateSystem.Update(CoordinateType type , Coordinate coordinate ) |
|---|---|
| Description | Updates the corresponding coordinate system based on the specified coordinate system type and coordinate system information. |
| Request Parameters | type : CoordinateType Coordinate system type coordinate : Coordinate Coordinate system information to be updated |
| Return Value | StatusCode: Update operation execution result |
| Compatible robot software version | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
4.11.3 Adding Coordinate System Information
| Method Name | CoordinateSystem.Add(CoordinateType type , Coordinate coordinate ) |
|---|---|
| Description | Adds a new coordinate system based on the specified coordinate system type and coordinate system information. |
| Request Parameters | type : CoordinateType Coordinate system type coordinate : Coordinate Coordinate system information to be added |
| Return Value | StatusCode: Add operation execution result |
| Compatible robot software version | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
4.11.4 Deleting Information of a Specified Coordinate System
| Method Name | CoordinateSystem.Delete(CoordinateType type , int index ) |
|---|---|
| Description | Deletes the corresponding coordinate system information based on the specified coordinate system type and index. |
| Request Parameters | type : CoordinateType Coordinate system type index : int Coordinate system index |
| Return Value | StatusCode: Delete operation execution result |
| Compatible robot software version | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
4.11.5 Getting a List of Coordinate System Information
| Method Name | CoordinateSystem.GetCoordinateList(CoordinateType type ) |
|---|---|
| Description | Gets a list of all coordinate system information based on the specified coordinate system type. |
| Request Parameters | type : CoordinateType Coordinate system type |
| Return Value | List<[CoordSummary][#3.22.2]>: Coordinate system information list StatusCode: Get operation execution result |
| Compatible robot software version | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
Example Code
cs
using Agilebot.IR;
using Agilebot.IR.CoordinateSystem;
using Agilebot.IR.Types;
public class TFCoordinateTest
{
/// <summary>
/// 测试 TF 坐标系的计算、添加、获取列表、获取单个坐标系、更新和删除操作
/// </summary>
public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
{
// [ZH] 初始化捷勃特机器人
// [EN] Initialize the Agilebot robot
Arm controller = new Arm(controllerIP, useLocalProxy);
// [ZH] 连接捷勃特机器人
// [EN] Connect to the Agilebot robot
StatusCode code = controller.ConnectSync();
Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");
if (code != StatusCode.OK)
{
return code;
}
try
{
// [ZH] 准备测试数据
// [EN] Prepare test data
var poseData = new List<Position>
{
new Position(847.0999429718556, 166.7999999999656, 276.8195498896624, 90, 0, -70),
new Position(809.0227439212846, 166.79999999994843, 459.80354972094295, 90, 0, -45),
new Position(717.1223240422377, 166.79999999993265, 654.0891675073312, 90, 0, -30),
new Position(572.917828754028, 166.79999999992168, 825.1862002007621, 90, 0, -40),
};
Console.WriteLine("开始TF坐标系测试/Starting TF Coordinate Test");
// [ZH] 计算坐标系
// [EN] Calculate coordinate system
Coordinate calculatedCoord = new Coordinate();
(Position coord, StatusCode calculateCode) = controller.CoordinateSystem.Calculate(
CoordinateType.ToolCoordinate,
poseData
);
if (code == StatusCode.OK)
{
Console.WriteLine("计算TF坐标系成功/Calculate TF Coordinate Success");
}
else
{
Console.WriteLine($"计算TF坐标系失败/Calculate TF Coordinate Failed: {code.GetDescription()}");
return code;
}
calculatedCoord.Id = 5;
calculatedCoord.Data = coord;
// [ZH] 删除可能存在的坐标系
// [EN] Delete existing coordinate if exists
StatusCode deleteCode = controller.CoordinateSystem.Delete(
CoordinateType.ToolCoordinate,
calculatedCoord.Id
);
Console.WriteLine($"删除现有坐标系/Delete Existing Coordinate: {deleteCode.GetDescription()}");
// [ZH] 添加坐标系
// [EN] Add coordinate system
StatusCode addCode = controller.CoordinateSystem.Add(CoordinateType.ToolCoordinate, calculatedCoord);
if (addCode == StatusCode.OK)
{
Console.WriteLine("添加TF坐标系成功/Add TF Coordinate Success");
}
else
{
Console.WriteLine($"添加TF坐标系失败/Add TF Coordinate Failed: {addCode.GetDescription()}");
return addCode;
}
// [ZH] 获取坐标系列表
// [EN] Get coordinate list
List<CoordSummary> listRes;
(listRes, code) = controller.CoordinateSystem.GetCoordinateList(CoordinateType.ToolCoordinate);
if (code == StatusCode.OK)
{
Console.WriteLine("获取TF坐标系列表成功/Get TF Coordinate List Success");
Console.WriteLine($"坐标系列表数量/Coordinate List Count: {listRes.Count}");
}
else
{
Console.WriteLine($"获取TF坐标系列表失败/Get TF Coordinate List Failed: {code.GetDescription()}");
return code;
}
// [ZH] 获取单个坐标系
// [EN] Get single coordinate
Coordinate getCoord;
(getCoord, code) = controller.CoordinateSystem.Get(CoordinateType.ToolCoordinate, calculatedCoord.Id);
if (code == StatusCode.OK)
{
Console.WriteLine("获取TF坐标系成功/Get TF Coordinate Success");
Console.WriteLine($"坐标系名称/Coordinate Name: {getCoord.Name}");
}
else
{
Console.WriteLine($"获取TF坐标系失败/Get TF Coordinate Failed: {code.GetDescription()}");
return code;
}
// [ZH] 更新坐标系
// [EN] Update coordinate system
getCoord.Name = "test";
StatusCode updateCode = controller.CoordinateSystem.Update(CoordinateType.ToolCoordinate, getCoord);
if (updateCode == StatusCode.OK)
{
Console.WriteLine("更新TF坐标系成功/Update TF Coordinate Success");
}
else
{
Console.WriteLine($"更新TF坐标系失败/Update TF Coordinate Failed: {updateCode.GetDescription()}");
return updateCode;
}
// [ZH] 删除坐标系
// [EN] Delete coordinate system
deleteCode = controller.CoordinateSystem.Delete(CoordinateType.ToolCoordinate, calculatedCoord.Id);
if (deleteCode == StatusCode.OK)
{
Console.WriteLine("删除TF坐标系成功/Delete TF Coordinate Success");
}
else
{
Console.WriteLine($"删除TF坐标系失败/Delete TF Coordinate Failed: {deleteCode.GetDescription()}");
return deleteCode;
}
Console.WriteLine("TF坐标系测试完成/TF Coordinate Test Completed");
}
catch (Exception ex)
{
Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
code = StatusCode.OtherReason;
}
finally
{
// [ZH] 关闭连接
// [EN] Close the connection
StatusCode disconnectCode = controller.Disconnect();
if (disconnectCode != StatusCode.OK)
{
Console.WriteLine(disconnectCode.GetDescription());
if (code == StatusCode.OK)
code = disconnectCode;
}
}
return code;
}
}