Difference between revisions of "MC-Basic:robot.ORIENTATIONCOMPLEMENT"
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|SHORT FORM=OCOMPLEMENT | |SHORT FORM=OCOMPLEMENT | ||
|SYNTAX=<robot>.OCOMPLEMENT = <number> | |SYNTAX=<robot>.OCOMPLEMENT = <number> | ||
| − | |AVAILABILITY= 4.7.10 | + | |AVAILABILITY= Since Version 4.7.10 |
|DESCRIPTION= | |DESCRIPTION= | ||
| − | If set causes system to look for the alternative solution | + | If set, causes the system to look for the alternative solution when the given [[MC-Basic:robot.ORIENTATIONFOLLOWING| ofollow ]] causes motion that goes beyond position limits. The alternative solution is fully determined as a complementary of the selected one: |
* Longer path in world space ↔ Shorter path in world space | * Longer path in world space ↔ Shorter path in world space | ||
| Line 11: | Line 11: | ||
* Positive direction in world space ↔ Negative direction in world space | * Positive direction in world space ↔ Negative direction in world space | ||
* Positive direction in joint space ↔ Negative direction in joint space | * Positive direction in joint space ↔ Negative direction in joint space | ||
| + | |||
| + | {{Note/Important|The action is done '''AFTER''' the orientation following fails with direction that is determined using the '''ORIENTATIONFOLLWING''' flag}} | ||
|TYPE= long | |TYPE= long | ||
| Line 20: | Line 22: | ||
|EXAMPLE= | |EXAMPLE= | ||
|SEE ALSO= | |SEE ALSO= | ||
| − | * [[ | + | * [[MC-Basic:robot.ORIENTATIONFOLLOWING| ORIENTATIONFOLLOWING]] |
| − | * [[ | + | * [[Orientation Following Flag|Orientation_Following_Flag]] |
| + | <!-- * {{Bugzilla|5186}} --> | ||
}} | }} | ||
Latest revision as of 08:56, 22 May 2014
If set, causes the system to look for the alternative solution when the given ofollow causes motion that goes beyond position limits. The alternative solution is fully determined as a complementary of the selected one:
- Longer path in world space ↔ Shorter path in world space
- Longer path in joint space ↔ Shorter path in joint space
- Positive direction in world space ↔ Negative direction in world space
- Positive direction in joint space ↔ Negative direction in joint space
 | IMPORTANT |
| The action is done AFTER the orientation following fails with direction that is determined using the ORIENTATIONFOLLWING flag |
Short form
OCOMPLEMENT
Syntax
<robot>.OCOMPLEMENT = <number>
Availability
Since Version 4.7.10
Type
long
Range
0/1
Units
none
Default
0
Scope
Task, Terminal
Limitations
Only for robots, Modal/Nodal