YashanDB ST_POINTZ函数

ST_POINTZ函数根据输入的x、y、z和可选的srid,返回对应坐标和srid的POINT数据。

x、y、z

表示坐标,参数类型为数值型,遵循如下规则:

  • 支持可以转换为DOUBLE类型的CHAR、VARCHAR类型(转换失败返回Invalid Number错误),使用其他数据类型则返回错误。
  • 本函数仅支持三维坐标,使用其他维度的坐标则返回错误。

srid

srid的数据类型是INT,表示输出结果中的空间参考系,遵循如下规则:

  • 支持能够隐式转换成INT的类型,如输入小数则进行四舍五入转换。
  • 该参数可以省略,省略时默认值是0。
  • 如果输入的是负数,则会按照默认的srid输出。

当输入的参数存在NULL时,函数返回NULL。

如需获取二维坐标的POINT数据,请使用ST_POINT函数。

示例(单机HEAP表)

SELECT ST_AsText(ST_PointZ(1, 2, 3), 0) res FROM DUAL;

RES                                          
---------------------------------------------------------------- 
POINT Z (1 2 3)        

SELECT ST_AsText(ST_PointZ(1, 2, 3, 4326), 0) res FROM DUAL;

RES                                            
---------------------------------------------------------------- 
POINT Z (1 2 3)  

--SRID为负数时按照默认的SRID输出
SELECT ST_SRID(ST_PointZ(1, 2, 3, -8)) res FROM DUAL;

                 RES
-------------------- 
                   0                                            

SELECT ST_SRID(ST_PointZ(1, 2, 3)) res FROM DUAL;

                 RES 
-------------------- 
                   0

SELECT ST_SRID(ST_PointZ(1, 2, 3, 4326)) res FROM DUAL;

                 RES 
-------------------- 
                4326
<?xml version="1.0" ?> <robot> <m_samplePeriod>0.01</m_samplePeriod> <m_robotDOF>6</m_robotDOF> <m_externDOF>0</m_externDOF> <m_robotType>0</m_robotType> <m_externalAxisType>0</m_externalAxisType> <m_rateTorque> <JOINT1>0</JOINT1> <JOINT2>0</JOINT2> <JOINT3>0</JOINT3> <JOINT4>0</JOINT4> <JOINT5>0</JOINT5> <JOINT6>0</JOINT6> </m_rateTorque> <m_posResolution> <JOINT1>65536</JOINT1> <JOINT2>65536</JOINT2> <JOINT3>65536</JOINT3> <JOINT4>65536</JOINT4> <JOINT5>65536</JOINT5> <JOINT6>65536</JOINT6> </m_posResolution> <m_velResolution> <JOINT1>256</JOINT1> <JOINT2>256</JOINT2> <JOINT3>256</JOINT3> <JOINT4>256</JOINT4> <JOINT5>256</JOINT5> <JOINT6>256</JOINT6> </m_velResolution> <m_torResolution> <JOINT1>1000</JOINT1> <JOINT2>1000</JOINT2> <JOINT3>1000</JOINT3> <JOINT4>1000</JOINT4> <JOINT5>1000</JOINT5> <JOINT6>1000</JOINT6> </m_torResolution> <m_reduceRatio> <JOINT1>100</JOINT1> <JOINT2>100</JOINT2> <JOINT3>100</JOINT3> <JOINT4>50</JOINT4> <JOINT5>50</JOINT5> <JOINT6>50</JOINT6> </m_reduceRatio> <m_pitch> <JOINT1>0</JOINT1> <JOINT2>0</JOINT2> <JOINT3>0</JOINT3> <JOINT4>0</JOINT4> <JOINT5>0</JOINT5> <JOINT6>0</JOINT6> </m_pitch> <m_couplingRatio> <JOINT1>0</JOINT1> <JOINT2>0</JOINT2> <JOINT3>0</JOINT3> <JOINT4>0</JOINT4> <JOINT5>0</JOINT5> <JOINT6>0</JOINT6> </m_couplingRatio> <m_jointRangeMinus> <JOINT1>-150</JOINT1> <JOINT2>-90</JOINT2> <JOINT3>-90</JOINT3> <JOINT4>-150</JOINT4> <JOINT5>-120</JOINT5> <JOINT6>-360</JOINT6> </m_jointRangeMinus> <m_jointRangePlus> <JOINT1>150</JOINT1> <JOINT2>90</JOINT2> <JOINT3>90</JOINT3> <JOINT4>150</JOINT4> <JOINT5>120</JOINT5> <JOINT6>360</JOINT6> </m_jointRangePlus> <m_jointMaxVel> <JOINT1>180</JOINT1> <JOINT2>180</JOINT2> <JOINT3>180</JOINT3> <JOINT4>360</JOINT4> <JOINT5>360</JOINT5> <JOINT6>360</JOINT6> </m_jointMaxVel> <m_jointMaxAcc> <JOINT1>1800</JOINT1> <JOINT2>1800</JOINT2> <JOINT3>1800</JOINT3> <JOINT4>3600</JOINT4> <JOINT5>3600</JOINT5> <JOINT6>3600</JOINT6> </m_jointMaxAcc> <m_jointMaxJerk> <JOINT1>18000</JOINT1> <JOINT2>18000</JOINT2> <JOINT3>18000</JOINT3> <JOINT4>36000</JOINT4> <JOINT5>36000</JOINT5> <JOINT6>36000</JOINT6> </m_jointMaxJerk> <m_jointMaxVelRatio>0.9</m_jointMaxVelRatio> <m_jointMaxAccRatio>0.9</m_jointMaxAccRatio> <m_jointMaxJerkRatio>0.9</m_jointMaxJerkRatio> <m_terminalRangeMinus> <TERMINALX>-1000</TERMINALX> <TERMINALY>-1000</TERMINALY> <TERMINALZ>-1000</TERMINALZ> <TERMINALA>-180</TERMINALA> <TERMINALB>-90</TERMINALB> <TERMINALC>-180</TERMINALC> </m_terminalRangeMinus> <m_terminalRangePlus> <TERMINALX>1000</TERMINALX> <TERMINALY>1000</TERMINALY> <TERMINALZ>1000</TERMINALZ> <TERMINALA>180</TERMINALA> <TERMINALB>90</TERMINALB> <TERMINALC>180</TERMINALC> </m_terminalRangePlus> <m_terminalMaxVel> <TERMINALX>300</TERMINALX> <TERMINALY>300</TERMINALY> <TERMINALZ>300</TERMINALZ> <TERMINALA>100</TERMINALA> <TERMINALB>100</TERMINALB> <TERMINALC>100</TERMINALC> </m_terminalMaxVel> <m_terminalMaxAcc> <TERMINALX>3000</TERMINALX> <TERMINALY>3000</TERMINALY> <TERMINALZ>3000</TERMINALZ> <TERMINALA>1000</TERMINALA> <TERMINALB>1000</TERMINALB> <TERMINALC>1000</TERMINALC> </m_terminalMaxAcc> <m_terminalMaxJerk> <TERMINALX>30000</TERMINALX> <TERMINALY>30000</TERMINALY> <TERMINALZ>30000</TERMINALZ> <TERMINALA>10000</TERMINALA> <TERMINALB>10000</TERMINALB> <TERMINALC>10000</TERMINALC> </m_terminalMaxJerk> <m_terminalMaxVelRatio>0.7</m_terminalMaxVelRatio> <m_terminalMaxAccRatio>0.2</m_terminalMaxAccRatio> <m_terminalMaxJerkRatio>0.2</m_terminalMaxJerkRatio> <m_modelZeroOffset> <JOINT1>0</JOINT1> <JOINT2>0</JOINT2> <JOINT3>0</JOINT3> <JOINT4>0</JOINT4> <JOINT5>0</JOINT5> <JOINT6>0</JOINT6> </m_modelZeroOffset> <m_DHParameterAlpha> <JOINT1>0</JOINT1> <JOINT2>-90</JOINT2> <JOINT3>0</JOINT3> <JOINT4>-90</JOINT4> <JOINT5>90</JOINT5> <JOINT6>-90</JOINT6> </m_DHParameterAlpha> <m_DHParameterA> <JOINT1>0</JOINT1> <JOINT2>0</JOINT2> <JOINT3>270</JOINT3> <JOINT4>70</JOINT4> <JOINT5>0</JOINT5> <JOINT6>0</JOINT6> </m_DHParameterA> <m_DHParameterD> <JOINT1>290</JOINT1> <JOINT2>0</JOINT2> <JOINT3>0</JOINT3> <JOINT4>302</JOINT4> <JOINT5>0</JOINT5> <JOINT6>72</JOINT6> </m_DHParameterD> <m_DHParameterTheta> <JOINT1>0</JOINT1> <JOINT2>-90</JOINT2> <JOINT3>0</JOINT3> <JOINT4>0</JOINT4> <JOINT5>0</JOINT5> <JOINT6>0</JOINT6> </m_DHParameterTheta> <m_baseFrame> <TERMINALX>0</TERMINALX> <TERMINALY>0</TERMINALY> <TERMINALZ>0</TERMINALZ> <TERMINALA>0</TERMINALA> <TERMINALB>0</TERMINALB> <TERMINALC>0</TERMINALC> </m_baseFrame> <m_endFrame> <TERMINALX>0</TERMINALX> <TERMINALY>0</TERMINALY> <TERMINALZ>0</TERMINALZ> <TERMINALA>180</TERMINALA> <TERMINALB>0</TERMINALB> <TERMINALC>0</TERMINALC> </m_endFrame> <m_links> <LINK1> <m_quality>0</m_quality> <m_centroid> <POINTX>0</POINTX> <POINTY>0</POINTY> <POINTZ>1</POINTZ> </m_centroid> <m_inertialTensor> <mat_1-1>1</mat_1-1> <mat_1-2>0</mat_1-2> <mat_1-3>0</mat_1-3> <mat_2-1>0</mat_2-1> <mat_2-2>1</mat_2-2> <mat_2-3>0</mat_2-3> <mat_3-1>0</mat_3-1> <mat_3-2>0</mat_3-2> <mat_3-3>1</mat_3-3> </m_inertialTensor> </LINK1> <LINK2> <m_quality>0</m_quality> <m_centroid> <POINTX>0</POINTX> <POINTY>0</POINTY> <POINTZ>1</POINTZ> </m_centroid> <m_inertialTensor> <mat_1-1>1</mat_1-1> <mat_1-2>0</mat_1-2> <mat_1-3>0</mat_1-3> <mat_2-1>0</mat_2-1> <mat_2-2>1</mat_2-2> <mat_2-3>0</mat_2-3> <mat_3-1>0</mat_3-1> <mat_3-2>0</mat_3-2> <mat_3-3>1</mat_3-3> </m_inertialTensor> </LINK2> <LINK3> <m_quality>0</m_quality> <m_centroid> <POINTX>0</POINTX> <POINTY>0</POINTY> <POINTZ>1</POINTZ> </m_centroid> <m_inertialTensor> <mat_1-1>1</mat_1-1> <mat_1-2>0</mat_1-2> <mat_1-3>0</mat_1-3> <mat_2-1>0</mat_2-1> <mat_2-2>1</mat_2-2> <mat_2-3>0</mat_2-3> <mat_3-1>0</mat_3-1> <mat_3-2>0</mat_3-2> <mat_3-3>1</mat_3-3> </m_inertialTensor> </LINK3> <LINK4> <m_quality>0</m_quality> <m_centroid> <POINTX>0</POINTX> <POINTY>0</POINTY> <POINTZ>1</POINTZ> </m_centroid> <m_inertialTensor> <mat_1-1>1</mat_1-1> <mat_1-2>0</mat_1-2> <mat_1-3>0</mat_1-3> <mat_2-1>0</mat_2-1> <mat_2-2>1</mat_2-2> <mat_2-3>0</mat_2-3> <mat_3-1>0</mat_3-1> <mat_3-2>0</mat_3-2> <mat_3-3>1</mat_3-3> </m_inertialTensor> </LINK4> <LINK5> <m_quality>0</m_quality> <m_centroid> <POINTX>0</POINTX> <POINTY>0</POINTY> <POINTZ>1</POINTZ> </m_centroid> <m_inertialTensor> <mat_1-1>1</mat_1-1> <mat_1-2>0</mat_1-2> <mat_1-3>0</mat_1-3> <mat_2-1>0</mat_2-1> <mat_2-2>1</mat_2-2> <mat_2-3>0</mat_2-3> <mat_3-1>0</mat_3-1> <mat_3-2>0</mat_3-2> <mat_3-3>1</mat_3-3> </m_inertialTensor> </LINK5> <LINK6> <m_quality>0</m_quality> <m_centroid> <POINTX>0</POINTX> <POINTY>0</POINTY> <POINTZ>1</POINTZ> </m_centroid> <m_inertialTensor> <mat_1-1>1</mat_1-1> <mat_1-2>0</mat_1-2> <mat_1-3>0</mat_1-3> <mat_2-1>0</mat_2-1> <mat_2-2>1</mat_2-2> <mat_2-3>0</mat_2-3> <mat_3-1>0</mat_3-1> <mat_3-2>0</mat_3-2> <mat_3-3>1</mat_3-3> </m_inertialTensor> </LINK6> </m_links> <m_slope> <JOINT1>0</JOINT1> <JOINT2>0</JOINT2> <JOINT3>0</JOINT3> <JOINT4>0</JOINT4> <JOINT5>0</JOINT5> <JOINT6>0</JOINT6> </m_slope> <m_intercept> <JOINT1>0</JOINT1> <JOINT2>0</JOINT2> <JOINT3>0</JOINT3> <JOINT4>0</JOINT4> <JOINT5>0</JOINT5> <JOINT6>0</JOINT6> </m_intercept> <m_maxFrictionTorque> <JOINT1>0</JOINT1> <JOINT2>0</JOINT2> <JOINT3>0</JOINT3> <JOINT4>0</JOINT4> <JOINT5>0</JOINT5> <JOINT6>0</JOINT6> </m_maxFrictionTorque> <m_torqueCompensationRatio> <JOINT1>0</JOINT1> <JOINT2>0</JOINT2> <JOINT3>0</JOINT3> <JOINT4>0</JOINT4> <JOINT5>0</JOINT5> <JOINT6>0</JOINT6> </m_torqueCompensationRatio> </robot>
07-11
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