Mat - Comau conversion question - Printable Version

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Mat - Comau conversion question-Dagas-02-25-2020

Hi,
I'm using the RoboDK API for C#, while working with target poses, I had a conversion problem from Mat to Comau, I wanted to have the same order as in the RoboDK GUI for coordinates.

        Code:

        Mat targetPose = target.Pose();
double[] pos = targetPose.ToXYZRPW();
       

For example in my case

        Code:

        pos[] = {500, 400, 600, 180, 0, 0}

In RoboDK the first and third rotation are switched so I tried to use ToComau() instead of ToXYZRPW() but it does not simply switch the rotations resulting in this:

        Code:

        pos[] = {500, 400, 600, 0, 90, 180}

What I'm doing wrong?
Thanks in advance,
Dagas