coord_transform

This function transforms a given task-space position (fTargetPos) from one coordinate system (eInCoordSystem) to another (eOutCoordSystem). It supports all valid transformation pairs among World, Base, Tool, and User coordinate systems.

Typical use cases include converting a pose expressed in a user-defined coordinate system into base coordinates for motion commands, or transforming tool TCP data into world space.

Definition
DRFLEx.h within class CDRFLEx, public section (line 975)

LPROBOT_POSE coord_transform(
    float fTargetPos[NUM_TASK],
    COORDINATE_SYSTEM eInCoordSystem,
    COORDINATE_SYSTEM eOutCoordSystem
) {
    return _coord_transform(_rbtCtrl, fTargetPos, eInCoordSystem, eOutCoordSystem);
};

Supported Transformations

The following conversions are supported:

• (InCoordSystem) world → (OutCoordSystem) base, tool, user

• (InCoordSystem) base → (OutCoordSystem) world, tool, user

• (InCoordSystem) tool → (OutCoordSystem) world, base, user

• (InCoordSystem) user → (OutCoordSystem) world, base, tool

This allows flexible transformation between all combinations of reference frames.

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target task-space position to be transformed (x, y, z, Rx, Ry, Rz).
eInCoordSystem	COORDINATE_SYSTEM		Source coordinate system in which fTargetPos is expressed.
eOutCoordSystem	COORDINATE_SYSTEM		Target coordinate system to which the position will be transformed.

Return

Value	Description
LPROBOT_POSE	The transformed pose, expressed in the output coordinate system.

Example

float tcp_pose[6] = { 300.f, 100.f, 200.f, 0.f, 180.f, 90.f };

// Transform TCP pose from BASE to USER coordinate system
LPROBOT_POSE result = drfl.coord_transform(
    tcp_pose,
    COORDINATE_SYSTEM_BASE,
    COORDINATE_SYSTEM_USER
);

std::cout << "Transformed X: " << result->_fPosition[0] << std::endl;

This example converts a TCP pose originally expressed in the base coordinate system into the user coordinate system, and prints the transformed X-coordinate. This function is especially useful when calibrating user frames or performing motion planning relative to non-base reference systems.