The method CalcEntityPoseInEntitySystem calculates the cartesian pose in the base frame of a source entity to a cartesian pose in the base frame of a target entity.
Access: PUBLIC
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Input |
Data type |
Description |
|---|---|---|
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i_etSourceSystemId |
An ID used to unequivocally identify an entity in the system. Admissible values are in the ranges:
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I_stSourcePose |
A cartesian pose in the i_etSourceSystem base frame that should be calculated to the base frame of a target system. |
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i_etTargetSystemId |
ET_SystemEntity |
An ID used to unequivocally identify an entity in the system. Admissible values are in the ranges:
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q_etDiag |
q_etDiagExt |
Enumeration value of q_etDiagExt |
Description |
|---|---|---|---|
|
Ok |
OK |
0 |
Ok |
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InputParameterInvalid |
ConveyorIdUnknown |
133 |
A provided conveyor ID is invalid. |
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InputParameterInvalid |
RobotIdUnknown |
130 |
A provided robot ID is invalid. |
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InputParameterInvalid |
TargetGeneratorIdUnknown |
174 |
A provided target generator type is invalid. |
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InputParameterInvalid |
EntityIdInvalid |
132 |
A provided entity ID is invalid |
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InputParameterInvalid |
OrientationConventionInvalid |
38 |
Invalid orientation convention. |
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Enumeration name: |
ConveyorIdUnknown |
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Enumeration value: |
133 |
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Description: |
A provided conveyor ID is invalid. |
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Issue |
Cause |
Solution |
|---|---|---|
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The cartesian pose has not been successfully evaluated. The value provided at i_etSourceSystemId or i_etTargetSystemId was not valid. |
The conveyor ID provided at i_etSourceSystemId or i_etTargetSystemId is indeterminable. |
Ensure that the value of i_etSourceSystemId or i_etTargetSystemId refers to a previously configured conveyor. |
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Enumeration name: |
RobotIdUnknown |
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Enumeration value: |
130 |
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Description: |
A provided robot ID is invalid. |
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Issue |
Cause |
Solution |
|---|---|---|
|
The cartesian pose has not been successfully evaluated. The value provided at i_etSourceSystemId or i_etTargetSystemId was not valid. |
The robot ID provided at i_etSourceSystemId or i_etTargetSystemId is indeterminable. |
Ensure that the value of i_etSourceSystemId or i_etTargetSystemId refers to a previously configured robot. |
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Enumeration name: |
TargetGeneratorIdUnknown |
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Enumeration value: |
174 |
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Description: |
A provided target generator type is invalid. |
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Issue |
Cause |
Solution |
|---|---|---|
|
The cartesian pose has not been successfully evaluated. The value provided at i_etSourceSystemId or i_etTargetSystemId was not valid. |
The target generator ID provided at i_etSourceSystemId or i_etTargetSystemId is indeterminable. |
Ensure that the value of i_etSourceSystemId or i_etTargetSystemId refers to a previously configured target generator. |
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Enumeration name: |
EntityIdInvalid |
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Enumeration value: |
132 |
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Description: |
A provided entity ID is invalid |
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Issue |
Cause |
Solution |
|---|---|---|
|
The cartesian pose has not been successfully evaluated. |
The value provided at i_etSourceSystemId or i_etTargetSystemId was not valid. |
Ensure that the value of i_etSourceSystemId or i_etTargetSystemId refers to a previously configured system. |
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Enumeration name: |
OrientationConventionInvalid |
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Enumeration value: |
38 |
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Description: |
Invalid orientation convention. |
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Issue |
Cause |
Solution |
|---|---|---|
|
The cartesian pose has not been successfully evaluated. The value provided at i_stSourcePose.etOrientationConvention was not valid. |
i_stSourcePose.etOrientationConvention contains an invalid orientation convention. |
Provide a valid value for the orientation convention. Admissible values are:
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