Difference between revisions of "MC-Basic:CASTJOINT"
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| + | {{Languages|MC-Basic:CASTJOINT}} | ||
{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
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|SYNTAX= | |SYNTAX= | ||
| − | <''joint_variable''> = castjoint (<'' | + | <''joint_variable''> = castjoint (<''long_scalar_expression''>, <''long_expression''>) |
| − | <''joint_variable''> = castjoint (<'' | + | <''joint_variable''> = castjoint (<''double_scalar_expression''>, <''long_expression''>) |
<''joint_variable''> = castjoint (<''long_array''>, <''long_expression''>) | <''joint_variable''> = castjoint (<''long_array''>, <''long_expression''>) | ||
| Line 15: | Line 16: | ||
|AVAILABILITY= | |AVAILABILITY= | ||
| − | Version 4.9.11 | + | Since Version 4.9.11 |
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Creates and returns a generic point using the robot type given by the second, long-type argument, | + | Creates and returns a generic joint type of point, using the robot type given by the second, long-type argument, while the coordinate values are taken from the first argument. If the first argument is scalar, the resulting point will be composed of identical coordinates. Using an array as the first argument will result in a point composed of the first "number-of-coordinates" (determined by the robot type) array elements. |
|TYPE= | |TYPE= | ||
| − | + | Joint | |
| − | |||
|RANGE= | |RANGE= | ||
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|LIMITATIONS= | |LIMITATIONS= | ||
| − | + | *Only a single-dimension array can be used as argument. | |
| + | *Number of array elements must be equal or greater than number of coordinates. | ||
|EXAMPLE= | |EXAMPLE= | ||
| − | |||
| − | |||
| − | ? | + | GenJoint = CASTJOINT(1, TYPE_XYZ) |
| − | + | ||
| + | ? CASTJOINT(ArrayOf4Doubles, TYPE_XYZR) | ||
| + | |||
|SEE ALSO= | |SEE ALSO= | ||
| + | * [[MC-Basic:CASTPOINT|CASTPOINT]] | ||
| + | |||
| + | * [[MC-Basic:CASTLOCATION|CASTLOCATION]] | ||
| + | * [[Point Type List|LIST OF ROBOT TYPES]] | ||
| + | [[Category:MC-Basic:Points Handling|CASTJOINT]] | ||
}} | }} | ||
Latest revision as of 01:56, 26 April 2017
| Language: | English • 中文（简体） |
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Creates and returns a generic joint type of point, using the robot type given by the second, long-type argument, while the coordinate values are taken from the first argument. If the first argument is scalar, the resulting point will be composed of identical coordinates. Using an array as the first argument will result in a point composed of the first "number-of-coordinates" (determined by the robot type) array elements.
Syntax
<joint_variable> = castjoint (<long_scalar_expression>, <long_expression>)
<joint_variable> = castjoint (<double_scalar_expression>, <long_expression>)
<joint_variable> = castjoint (<long_array>, <long_expression>)
<joint_variable> = castjoint (<double_array>, <long_expression>)
Availability
Since Version 4.9.11
Type
Joint
Scope
Configuration, Task, Terminal
Limitations
- Only a single-dimension array can be used as argument.
- Number of array elements must be equal or greater than number of coordinates.
Examples
GenJoint = CASTJOINT(1, TYPE_XYZ)
? CASTJOINT(ArrayOf4Doubles, TYPE_XYZR)