set_user_cart_coord2 (3-point method)

This function defines a new user Cartesian coordinate system using three input poses (fTargetPos[0], fTargetPos[1], and fTargetPos[2]) and an origin position (fTargetOrg) relative to the reference coordinate system (eTargetRef).

The three input poses specify the orientation and alignment of the new coordinate axes:
- The X-axis is determined by the vector from pose₁ → pose₂.
- The Z-axis is calculated as the cross-product of the vectors (pose₂ − pose₁) × (pose₃ − pose₁).
- The Y-axis is computed as the cross-product of Z × X.

Up to 20 user coordinate systems can be created (IDs 101–120). Since coordinate systems set by this function are not persistent after program termination, it is recommended to register them within the Workcell configuration for long-term use.

Definition
DRFLEx.h within class CDRFLEx, public section (line 973)

int set_user_cart_coord(
    float fTargetPos[3][NUM_TASK],
    float fTargetOrg[3],
    COORDINATE_SYSTEM eTargetRef = COORDINATE_SYSTEM_BASE
) {
    return _set_user_cart_coord2(_rbtCtrl, fTargetPos, fTargetOrg, eTargetRef);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[3][6]		Three target task positions defining the plane of the new user coordinate - Pose #1: reference start point - Pose #2: defines X-axis direction - Pose #3: defines the plane for Z-axis orientation
fTargetOrg	float[3]		Origin position (X, Y, Z) of the new user coordinate system.
eTargetRef	COORDINATE_SYSTEM	COORDINATE_SYSTEM_BASE	Reference coordinate system from which the new coordinate is defined.

Return

Value	Description
int	ID of the successfully created coordinate system (101–200). Returns negative on failure.

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Define three poses to establish the coordinate plane
    float x1[6] = {0.0f, 200.0f, 700.0f, 0.0f, 0.0f, 0.0f};
    float x2[6] = {0.0f, 700.0f, 0.0f, 0.0f, 0.0f, 0.0f};
    float x3[6] = {0.0f, 200.0f, 0.0f, 0.0f, 0.0f, 0.0f};

    // Set the origin position
    float org[3] = {10.0f, 30.0f, 15.0f};

    // Register a new user coordinate system based on the three poses
    int coord_id = drfl.set_user_cart_coord({x1, x2, x3}, org, COORDINATE_SYSTEM_BASE);

    printf("User coordinate created with ID: %d\n", coord_id);
}

This example defines a user Cartesian coordinate frame using three task-space poses and an origin offset, then registers it relative to the base coordinate system.